CN114607357A - Gas tunnel blast hole detection vehicle device and using method - Google Patents
Gas tunnel blast hole detection vehicle device and using method Download PDFInfo
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- CN114607357A CN114607357A CN202210454493.0A CN202210454493A CN114607357A CN 114607357 A CN114607357 A CN 114607357A CN 202210454493 A CN202210454493 A CN 202210454493A CN 114607357 A CN114607357 A CN 114607357A
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- 238000001514 detection method Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000002828 fuel tank Substances 0.000 claims description 10
- 238000007689 inspection Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 description 11
- 238000005422 blasting Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 4
- 238000005553 drilling Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- 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
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- 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
- E21B47/002—Survey of boreholes or wells by visual inspection
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- 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
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
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- 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
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- 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
- E21B47/08—Measuring diameters or related dimensions at the borehole
- E21B47/085—Measuring diameters or related dimensions at the borehole using radiant means, e.g. acoustic, radioactive or electromagnetic
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- 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
- E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
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- Geology (AREA)
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- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- Geophysics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention relates to the technical field of blast hole detection, in particular to a gas tunnel blast hole detection vehicle device and a using method thereof.
Description
Technical Field
The invention relates to the technical field of blast hole detection, in particular to a gas tunnel blast hole detection vehicle device and a using method thereof.
Background
As is well known, in tunnel construction, a gas tunnel is inevitably encountered due to planning and route selection, and blasting operation adopted in the gas tunnel has high risk, so that the construction quality of the tunnel is ensured while the blasting construction risk of the gas tunnel is reduced, which is a serious difficulty of the gas blasting tunnel.
In the prior blasting operation in the gas tunnel, the construction risk is generally reduced by strictly managing the construction organization, but because the quality of constructors is different, the uncertain risk is still high, so the constructors for reducing the blasting operation of the gas tunnel are the root of reducing the risk, in the prior blasting operation of the gas tunnel, the drilling is usually completed by manual drilling, the construction quality of blast holes is difficult to ensure, the over-excavation is caused to be over-large, the construction period is influenced, the investment is increased, the construction quality is difficult to ensure under the high-risk construction condition, and the intelligent equipment is a favorable choice for reducing the risk and ensuring the quality.
The blasting operation has a large influence on the tunnel construction quality, and the blast hole depth influences the charging quantity, the blast hole angle influences the action range and the blast hole size influences the charging process. Therefore, under the construction condition with high safety quality requirements, the intelligent equipment is indispensable to the detection of the blast holes, and the blast hole detection in the gas tunnel is safer, more visual, more digital and more intelligent.
A blasthole is a hole drilled in a body to be blasted, such as a rock or ore body. Used for filling explosives for blasting. According to their depth and diameter, they can be classified into superficial, medium and deep eyes. The depth, diameter and direction of the blast hole all have influence on the blasting effect.
The conventional gas tunnel blasthole detection mostly adopts manual detection, the manual workload is large, the working efficiency is low, the blasthole data cannot be recorded in time, the influence of the terrain is large, the remote monitoring cannot be realized, and the use limitation is high.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a blast hole detection vehicle device for a gas tunnel and a using method thereof.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a gas tunnel porthole detects car device, includes operation platform, horizontal rotation bracket, main control unit, hydraulic pressure adjusting part, hydraulic control subassembly, determine module and walking subassembly, main control unit with hydraulic pressure adjusting part, hydraulic control subassembly, determine module and walking subassembly are connected, the operation platform below is passed through horizontal rotation bracket with the walking subassembly is connected, operation platform top one end is provided with the hydraulic pressure controlling part, the operation platform top other end is provided with the hydraulic pressure adjusting part, hydraulic pressure controlling part output with the hydraulic pressure adjusting part is connected, the last main control unit that is provided with of operation platform, main control unit sets up between hydraulic pressure adjusting part and the hydraulic control subassembly, the hydraulic pressure adjusting part includes hydraulic pressure support, the big arm of hydraulic pressure, first flexible arm, detection module and walking subassembly, The hydraulic support is arranged on the operating platform, one end of the hydraulic large arm is close to the hydraulic support, one end of the main control assembly is hinged to one end of the hydraulic large arm, the other end of the hydraulic large arm passes through the hydraulic steering wheel and one end of the first telescopic arm is connected to the other end of the first telescopic arm, the other end of the first telescopic arm passes through the ball-type steering gear and the detection assembly is connected to the ball-type steering gear, one end of the second telescopic arm is far away from the hydraulic support, one end of the main control assembly is hinged to the other end of the second telescopic arm, and the other end of the second telescopic arm is hinged to the lower side of the other end of the hydraulic large arm.
In order to ensure that the equipment runs stably, the invention improves that the walking assembly comprises a driving wheel, a loading wheel, a tension wheel, a crawler belt, an engine, a fuel tank and a frame, wherein the lower part of the horizontal rotating bracket is connected with the frame, the two ends of the side wall of the frame are respectively provided with the driving wheel and the tension wheel, a plurality of groups of loading wheels which are uniformly arranged are arranged below the frame, the outer walls of the driving wheel, the tension wheel and the loading wheel are connected with the inner wall of the crawler belt, the frame is provided with the fuel tank and the engine, the output end of the fuel tank is connected with the input end of the engine, and the output end of the engine is connected with the input end of the driving wheel.
In order to conveniently control equipment and display detection data, the invention has the improvement that the main control assembly comprises a console and a display platform, the console is arranged below the display platform, and the display platform is provided with a display and a plurality of display frames.
In order to conveniently supply energy to the hydraulic adjusting assembly, the hydraulic control assembly comprises a hydraulic pump station, an output pump, a pressure display adjusting assembly and an indicator light.
In order to ensure the detection effect of the equipment, the detection assembly comprises a shell, a camera, an infrared detector, a lighting lamp and an integrated control assembly, wherein the integrated control assembly is arranged in the shell, the camera, the infrared detector and the lighting lamp are arranged on one side of the shell, which is far away from the spherical steering gear, and the integrated control assembly is connected with the camera, the infrared detector and the lighting lamp.
The invention further provides a using method of the gas tunnel blasthole detection vehicle device, which comprises the following steps:
step 2, controlling a second telescopic arm through an operation platform, wherein the second telescopic arm is hinged with a hydraulic large arm, the angle between the hydraulic large arm and a hydraulic support is changed, the length of a hydraulic steering wheel and the length of a first telescopic arm are adjusted, and further, a spherical steering gear is adjusted to enable a detection assembly connected with the spherical steering gear to move to a specified position;
step 3, the detection instrument carries out self-calibration once before formal detection, and records the coordinates and angles of the instrument;
and 7, after the detection is finished, repeating the steps 1 to 6 to detect the next blast hole.
(III) advantageous effects
Compared with the prior art, the invention provides a blast hole detection vehicle device for a gas tunnel and a using method, and the blast hole detection vehicle device has the following beneficial effects:
according to the gas tunnel blasthole detection vehicle device and the using method, equipment can be conveniently moved through manual remote control, the power device arranged on the rack is connected with the horizontal rotating bracket, the angle can be conveniently adjusted, the position of the detection assembly can be conveniently adjusted through coordinated control of the walking assembly, the hydraulic control assembly, the hydraulic adjusting assembly and the main control assembly, and the gas tunnel blasthole detection vehicle device can be conveniently adapted to various terrains.
According to the gas tunnel blast hole detection vehicle device and the using method, the camera and the illuminating lamp are matched to complete image acquisition, the infrared detector has horizontal calibration and coordinate memory functions, the infrared detector scans the aperture and the depth of a blast hole and feeds the aperture and the depth back to the data processing center in real time, and accurate data acquisition is guaranteed.
According to the gas tunnel blasthole detection vehicle device and the using method, the display platform receives actual condition pictures sent back by the camera in real time, the video is stored in the background in a default mode, a blasthole coordinate display frame, a blasthole diameter display frame and a blasthole depth display frame which are arranged on the display platform perform feedback display according to scanning records of the infrared detector, and the end portions of parts of the hydraulic adjusting assembly are provided with coordinate sensors, so that accurate control is facilitated.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of a portion of the structure of FIG. 1;
FIG. 3 is a schematic enlarged view of a portion B in FIG. 1;
FIG. 4 is a schematic view of a structural inspection assembly of the present invention;
FIG. 5 is an enlarged view of a portion of the structural inspection assembly of the present invention.
In the figure: 1. an operating platform; 2. a horizontal rotation bracket; 3. a hydraulic support; 4. a hydraulic big arm; 5. a first telescopic arm; 6. a second telescopic arm; 7. a hydraulic steering wheel; 8. a ball-type steering gear; 9. a detection component; 10. a drive wheel; 11. a loading wheel; 12. a tension wheel; 13. a crawler; 14. an engine; 15. a fuel tank; 16. a frame; 17. a console; 18. a display platform; 19. a hydraulic pump station; 20. an output pump; 21. a pressure display adjustment assembly; 22. an indicator light; 23. a housing; 24. a camera; 25. an infrared detector; 26. an illuminating lamp; 27. and (4) integrating the control component.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, a gas tunnel blasthole detection vehicle device comprises an operation platform 1, a horizontal rotation bracket 2, a main control assembly, a hydraulic regulation assembly, a hydraulic control assembly, a detection assembly 9 and a walking assembly, wherein the main control assembly is connected with the hydraulic regulation assembly, the hydraulic control assembly, the detection assembly 9 and the walking assembly, the lower part of the operation platform 1 is connected with the walking assembly through the horizontal rotation bracket 2, the hydraulic control assembly is arranged at one end above the operation platform 1, the hydraulic regulation assembly is arranged at the other end above the operation platform 1, the output end of the hydraulic control assembly is connected with the hydraulic regulation assembly, the main control assembly is arranged on the operation platform 1 and arranged between the hydraulic regulation assembly and the hydraulic control assembly, and the hydraulic regulation assembly comprises a hydraulic support 3, Big arm 4 of hydraulic pressure, first flexible arm 5, the flexible arm 6 of second, hydraulic pressure directive wheel 7 and ball-type steering gear 8, hydraulic support 3 sets up operation platform 1 is last, 4 one ends of the big arm of hydraulic pressure are close to with hydraulic support 3 main control assembly one end is articulated, the big arm 4 other end of hydraulic pressure passes through hydraulic pressure directive wheel 7 with 5 one end of first flexible arm is connected, the 5 other ends of first flexible arm pass through ball-type steering gear 8 with detection component 9 connects, the flexible arm 6 one end of second with hydraulic support 3 keeps away from main control assembly one end is articulated, the flexible arm 6 other end of second with 4 other end below of the big arm of hydraulic pressure are articulated.
The walking assembly includes drive wheel 10, bogie wheel 11, take-up pulley 12, track 13, engine 14, fuel tank 15 and frame 16, 2 below of horizontal rotation bracket with frame 16 connects, 16 lateral wall both ends of frame are provided with respectively drive wheel 10 and take-up pulley 12, 16 below of frame is provided with the bogie wheel 11 that a plurality of groups were evenly arranged, drive wheel 10, take-up pulley 12 and 11 outer walls of bogie wheel with 13 interior wall connections of track, be provided with on the frame 16 fuel tank 15 and engine 14, the 15 output ends of fuel tank are connected with the 14 inputs of engine, the 14 outputs of engine with the 10 inputs of drive wheel are connected, and operate steadily in order to guarantee equipment.
The main control assembly comprises a console 17 and a display platform 18, the console 17 is arranged below the display platform 18, and a display and a plurality of display frames are arranged on the display platform 18, so that the control device and the display detection data are conveniently controlled.
The hydraulic control subassembly includes hydraulic power unit 19, output pump 20, pressure display adjusting part 21 and pilot lamp 22, 19 tops of hydraulic power unit are provided with output pump 20, 19 lateral walls of hydraulic power unit are provided with pressure display adjusting part 21 and pilot lamp 22, pilot lamp 22 sets up pressure display adjusting part 21 week side, for the hydraulic pressure adjusting part energy supply of being convenient for.
The detection assembly 9 comprises a shell 23, a camera 24, an infrared detector 25, a lighting lamp 26 and an integrated control assembly 27, the integrated control assembly 27 is arranged in the shell 23, the shell 23 is far away from one side of the ball-type steering gear 8 and is provided with the camera 24, the infrared detector 25 and the lighting lamp 26, and the integrated control assembly 27 is connected with the camera 24, the infrared detector 25 and the lighting lamp 26 so as to ensure the detection effect of the equipment.
The invention further provides a using method of the gas tunnel blasthole detection vehicle device, which comprises the following steps:
step 2, controlling a second telescopic arm 6 through an operation platform 1, wherein the second telescopic arm 6 is hinged with a hydraulic large arm 4, the angle between the hydraulic large arm 4 and a hydraulic support 3 is changed, the length of a hydraulic steering wheel 7 and the length of a first telescopic arm 5 are adjusted, and further, a spherical steering gear 8 is adjusted to enable a detection assembly 9 connected with the spherical steering gear 8 to move to a specified position;
step 3, the detection instrument carries out self-calibration once before formal detection, and records the coordinates and angles of the instrument;
and 7, after the detection is finished, repeating the steps 1 to 6 to detect the next blast hole.
In conclusion, the equipment is convenient to move through manual remote control, a power device is arranged on the rack 16 and connected with the horizontal rotating bracket 2, the angle is convenient to adjust, the position of the detection assembly 9 is convenient to adjust through coordination control of the walking assembly, the hydraulic control assembly, the hydraulic adjustment assembly and the main control assembly, the image acquisition work is convenient to adapt to various terrains, the camera 24 and the illuminating lamp 26 are matched to finish the image acquisition work, the infrared detector 25 has the functions of horizontal calibration and coordinate memory, the infrared detector 25 scans the aperture and the depth of a blast hole and feeds back the scanned images to the data processing center in real time to ensure accurate data acquisition, the display platform 18 receives actual condition images returned by the camera 24 in real time, the recorded images are stored in the background in a default manner, and a blast hole coordinate display frame, a blast hole diameter display frame and a blast hole depth display frame which are arranged on the display platform 18 are fed back and displayed according to the scanning record of the infrared detector 25, the end parts of the hydraulic adjusting assembly parts are provided with coordinate sensors, so that the hydraulic adjusting assembly is convenient and accurate to control.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a gas tunnel porthole detects car device, includes operation platform (1), horizontal rotation bracket (2), main control unit spare, hydraulic pressure adjusting part, hydraulic control subassembly, determine module (9) and walking subassembly, its characterized in that: the hydraulic control device is characterized in that the main control assembly is connected with the hydraulic adjusting assembly, the hydraulic control assembly, the detection assembly (9) and the walking assembly, the lower part of the operating platform (1) is connected with the walking assembly through the horizontal rotating bracket (2), the hydraulic control assembly is arranged at one end above the operating platform (1), the hydraulic adjusting assembly is arranged at the other end above the operating platform (1), the output end of the hydraulic control assembly is connected with the hydraulic adjusting assembly, the main control assembly is arranged on the operating platform (1), the main control assembly is arranged between the hydraulic adjusting assembly and the hydraulic control assembly, the hydraulic adjusting assembly comprises a hydraulic support (3), a hydraulic big arm (4), a first telescopic arm (5), a second telescopic arm (6), a hydraulic steering wheel (7) and a ball-shaped steering gear (8), the hydraulic support (3) is arranged on the operating platform (1), one end of a hydraulic large arm (4) is close to the hydraulic support (3), one end of the main control assembly is hinged, the other end of the hydraulic large arm (4) is connected with one end of a first telescopic arm (5), the other end of the first telescopic arm (5) is connected with the ball-shaped steering gear (8) and the detection assembly (9), one end of a second telescopic arm (6) is connected with the hydraulic support (3) and is far away from one end of the main control assembly, and the other end of the second telescopic arm (6) is hinged to the lower side of the other end of the hydraulic large arm (4).
2. The gas tunnel blasthole inspection vehicle device according to claim 1, characterized in that: the walking assembly comprises a driving wheel (10), a bogie wheel (11), a tensioning wheel (12), a crawler belt (13), an engine (14), a fuel tank (15) and a frame (16), a horizontal rotating bracket (2) is arranged below the frame (16) and connected with the frame (16), two ends of the side wall of the frame (16) are respectively provided with the driving wheel (10) and the tensioning wheel (12), the frame (16) is provided with a plurality of groups of bogie wheels (11) which are uniformly arranged below the frame (16), the outer walls of the driving wheel (10), the tensioning wheel (12) and the bogie wheels (11) are connected with the inner wall of the crawler belt (13), the frame (16) is provided with the fuel tank (15) and the engine (14), the output end of the fuel tank (15) is connected with the input end of the engine (14), and the output end of the engine (14) is connected with the input end of the driving wheel (10).
3. The gas tunnel blasthole inspection vehicle device according to claim 2, characterized in that: the main control assembly comprises a control console (17) and a display platform (18), the control console (17) is arranged below the display platform (18), and a display and a plurality of display frames are arranged on the display platform (18).
4. The gas tunnel blasthole inspection vehicle device according to claim 3, characterized in that: the hydraulic control assembly comprises a hydraulic pump station (19), an output pump (20), a pressure display adjusting assembly (21) and an indicator light (22), the output pump (20) is arranged above the hydraulic pump station (19), the side wall of the hydraulic pump station (19) is provided with the pressure display adjusting assembly (21) and the indicator light (22), and the indicator light (22) is arranged on the peripheral side of the pressure display adjusting assembly (21).
5. The gas tunnel blasthole inspection vehicle device according to claim 4, wherein: detection component (9) include casing (23), camera (24), infrared detector (25), light (26) and integrated control assembly (27), be provided with integrated control assembly (27) in casing (23), casing (23) are kept away from ball-type steering gear (8) one side is provided with camera (24), infrared detector (25) and light (26), integrated control assembly (27) with camera (24), infrared detector (25) and light (26) are connected.
6. The use method of the gas tunnel blasthole detection vehicle device is characterized by comprising the following steps:
step 1, controlling a walking assembly through a remote terminal to enable equipment to move to a specified position;
step 2, controlling a second telescopic arm (6) through an operation platform (1), wherein the second telescopic arm (6) is hinged with a hydraulic large arm (4), the angle of the hydraulic large arm (4) and a hydraulic support (3) is changed, the lengths of a hydraulic steering wheel (7) and a first telescopic arm (5) are adjusted, and further, a spherical steering gear (8) is adjusted, so that a detection assembly (9) connected with the spherical steering gear (8) moves to a specified position;
step 3, the detection instrument carries out self-calibration once before formal detection, and records the coordinates and angles of the instrument;
step 4, an integrated control assembly (27) in the detection instrument is matched with a camera (24), an infrared detector (25) and an illuminating lamp (26) for use, so that the diameter of a blast hole, the depth of the blast hole, the angle of the blast hole and the coordinate data of the blast hole are acquired and transmitted to a remote data processing terminal through a data transmission module;
step 5, the data processing terminal analyzes and calculates the received blast hole data and sends the processed data to a display platform (18);
step 6, the constructor checks the data, and if the deviation of the blast hole parameter is found to be overlarge, the camera (24) is switched to photograph the blast hole for feedback;
and 7, after the detection is finished, repeating the steps 1 to 6 to detect the next blast hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210454493.0A CN114607357A (en) | 2022-04-27 | 2022-04-27 | Gas tunnel blast hole detection vehicle device and using method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210454493.0A CN114607357A (en) | 2022-04-27 | 2022-04-27 | Gas tunnel blast hole detection vehicle device and using method |
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| CN114607357A true CN114607357A (en) | 2022-06-10 |
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| CN202210454493.0A Withdrawn CN114607357A (en) | 2022-04-27 | 2022-04-27 | Gas tunnel blast hole detection vehicle device and using method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116754749A (en) * | 2023-08-17 | 2023-09-15 | 昆明理工大学 | Intelligent blasting rock mass strength measuring robot and measuring method |
-
2022
- 2022-04-27 CN CN202210454493.0A patent/CN114607357A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116754749A (en) * | 2023-08-17 | 2023-09-15 | 昆明理工大学 | Intelligent blasting rock mass strength measuring robot and measuring method |
| CN116754749B (en) * | 2023-08-17 | 2023-11-14 | 昆明理工大学 | Intelligent blasting rock mass strength measuring robot and measuring method |
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Application publication date: 20220610 |
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