CN117237445A - Non-contact hole inspection method, robot and system for tunnel by drilling and blasting method - Google Patents
Non-contact hole inspection method, robot and system for tunnel by drilling and blasting method Download PDFInfo
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- CN117237445A CN117237445A CN202310966524.5A CN202310966524A CN117237445A CN 117237445 A CN117237445 A CN 117237445A CN 202310966524 A CN202310966524 A CN 202310966524A CN 117237445 A CN117237445 A CN 117237445A
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000007689 inspection Methods 0.000 title claims abstract description 40
- 238000005422 blasting Methods 0.000 title claims abstract description 32
- 238000005553 drilling Methods 0.000 title claims abstract description 26
- 238000009412 basement excavation Methods 0.000 claims description 19
- 238000004422 calculation algorithm Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 6
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- 238000010801 machine learning Methods 0.000 claims description 6
- 238000012795 verification Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 16
- 238000010276 construction Methods 0.000 abstract description 6
- 238000004364 calculation method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000003556 assay Methods 0.000 abstract description 2
- 239000011435 rock Substances 0.000 description 7
- 239000002360 explosive Substances 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 239000011229 interlayer Substances 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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Abstract
The application belongs to the technical field of underground engineering intelligent construction, and provides a non-contact hole inspection method, a non-contact hole inspection robot and a non-contact hole inspection system for a tunnel by a drilling and blasting method, wherein all gun hole positions are determined through working face images; then, at the determined position of each blast hole, the distance from the measuring point to the continuous point on the working surface at different angles is obtained; the maximum distance among the distances from the measuring point to the continuous point on the working surface is the depth of the blast hole, and the inclination angle of the measuring point and the point on the working surface corresponding to the maximum distance is the inclination angle of the blast hole; the detection of the depth and the angle of the blast hole can be realized only through distance measurement, no extra calculation process is needed, automatic hole assay is facilitated, and the blast hole detection efficiency is improved.
Description
Technical Field
The application belongs to the technical field of intelligent construction of underground engineering, and particularly relates to a non-contact hole inspection method, a non-contact hole inspection robot and a non-contact hole inspection system for a tunnel by a drilling and blasting method.
Background
Underground engineering is an important support in the fields of traffic, energy, national defense, water networks and the like. In the underground engineering construction, the drilling and blasting method is widely applied because of the advantages of simple construction, strong adaptability and low excavation cost, and particularly can make up for the defects of a development machine method, and the problems of poor economy of a short-mileage tunnel, inapplicability to a large-height environment, low complex inter-layer geological operation efficiency and high energy supply and transportation requirements in difficult mountain areas of a conventional development machine are solved, so that the drilling and blasting method is one of the most important construction methods of the underground engineering. At present, the working procedures of rock drilling and the like in the tunnel construction by a drilling and blasting method are mechanized and even automated, but the blasting working procedure still depends on a great deal of manpower, and the working efficiency is improved, and the neck clamping link used by manpower is reduced.
The inspection work of the blastholes is a key joint of blasting operation, and the accuracy and the efficiency of the blasthole inspection relate to whether the blasting effect accords with expectations, whether the explosive loading can be smooth, whether automatic explosive loading can be realized, and the like. However, a single work surface involves hundreds of blastholes, requires a lot of inspection personnel, is long in operation time, and is difficult to measure the inclination angle of the blastholes, and is difficult to digitize the depth of the blastholes. Particularly, in dangerous areas of the face of the blasting operators, the important safety risks of falling of unstable rock blocks of exposed surrounding rocks, surrounding rock collapse and the like are faced.
The inventor finds that in order to solve the problems of efficiency, safety and the like existing in an on-site inspection mode of operators, the prior art adopts a mode of combining an image acquisition device with a range finder to conduct gun position pose identification, a gun hole depth range finder is developed, and hole depth measurement, gun hole inclination angle and the like are conducted by means of a measuring ruler and a laser range finder; the simple detection of the pose and the depth cannot realize the detection of the integral factors in the blast hole, and cannot reflect the quality of the blast hole; when measuring in big gun hole degree of depth and angle etc., need to realize with the help of measuring at least two measuring parts such as chi and laser rangefinder, be unfavorable for the realization in automatic chemical examination hole, and need extra calculation when confirming the angle, influence efficiency.
Disclosure of Invention
In order to solve the problems, the application provides a non-contact hole inspection method, a non-contact hole inspection robot and a non-contact hole inspection system for a tunnel by a drilling and blasting method, and the application realizes automatic, unmanned and rapid detection of blast hole detection; the comprehensive detection of the position, depth and in-hole obstacle of the blast hole is realized through simple equipment.
In order to achieve the above object, the present application is realized by the following technical scheme:
in a first aspect, the present application provides a non-contact hole inspection method for a tunnel by a drilling and blasting method, including:
acquiring a working face image;
determining all blast hole positions according to the working face image;
at each determined blast hole position, obtaining the distance from a measuring point to a continuous point on a working surface at different angles; and in the distances from the measuring points to the continuous points on the working surface, the maximum distance is the depth of the blast hole, and the inclination angle of the measuring points and the points on the working surface corresponding to the maximum distance is the inclination angle of the blast hole.
Further, all the blast holes in the working face image are identified by utilizing an embedded machine learning algorithm, and the coordinate positions of all the blast holes in the working face image are obtained.
Further, selecting a plurality of characteristic points of a vault, a left arch springing and a right arch springing of the tunnel in the working face image; and measuring coordinates of the feature points in the working face image, matching with coordinates of the same position of the actual tunnel excavation, performing coordinate conversion, and converting the image coordinates of all the gun holes into plane coordinates of the actual working face.
Further, on the horizontal plane, the left and right different angles of the measuring point are adjusted in the normal direction of the tunnel excavation plane; and on the vertical surface, the vertical angles of the measuring points are adjusted in the normal direction of the tunnel excavation platform.
Further, calculating the derivative of the laser ranging numerical function in the adjacent area, and if the derivative has infinite condition, then the inside of the blast hole is provided with an obstacle.
Further, the working face image is a face image.
The application provides a non-contact hole inspection robot for a tunnel by a drilling and blasting method, which comprises a chassis, a mechanical arm arranged on the chassis, a laser range finder arranged on the mechanical arm and an image recognition system arranged on the chassis, wherein the mechanical arm is arranged on the chassis; when in operation, the device comprises:
acquiring a working face image through the image recognition system;
determining all blast hole positions according to the working face image;
at each determined blast hole position, obtaining the distance from a measuring point to a continuous point on a working surface at different angles through the laser range finder; and in the distances from the measuring points to the continuous points on the working surface, the maximum distance is the depth of the blast hole, and the inclination angle of the measuring points and the points on the working surface corresponding to the maximum distance is the inclination angle of the blast hole.
In a third aspect, the present application further provides a non-contact hole inspection system for a tunnel by a drilling and blasting method, including:
a data acquisition module configured to: acquiring a working face image;
a blasthole location determination module configured to: determining all blast hole positions according to the working face image;
a verification module configured to: at each determined blast hole position, obtaining the distance from a measuring point to a continuous point on a working surface at different angles; and in the distances from the measuring points to the continuous points on the working surface, the maximum distance is the depth of the blast hole, and the inclination angle of the measuring points and the points on the working surface corresponding to the maximum distance is the inclination angle of the blast hole.
In a fourth aspect, the present application also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the method for non-contact hole inspection of a tunnel by a drill-burst method of the first aspect.
In a fifth aspect, the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for testing holes in a tunnel by a drill and burst method according to the first aspect when the program is executed.
Compared with the prior art, the application has the beneficial effects that:
1. firstly, determining all blast hole positions through a working face image; then, at the determined position of each blast hole, the distance from the measuring point to the continuous point on the working surface at different angles is obtained; the maximum distance among the distances from the measuring point to the continuous point on the working surface is the depth of the blast hole, and the inclination angle of the measuring point and the point on the working surface corresponding to the maximum distance is the inclination angle of the blast hole; the depth and the angle of the blast hole can be detected only by distance measurement, no extra calculation process is needed, automatic hole testing is facilitated, and the blast hole detection efficiency is improved;
2. according to the application, whether the blast hole is internally provided with the obstacle can be judged by calculating the derivative of the laser ranging numerical function in the adjacent area, and the comprehensive detection of the depth, the angle and the internal obstacle of the blast hole is realized only by the laser ranging instrument without adding additional measuring equipment and measuring objects.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
FIG. 1 is a flow chart of embodiment 1 of the present application;
FIG. 2 is a schematic structural diagram of embodiment 2 of the present application;
1, a chassis; 2. a mechanical arm; 3. a universal joint; 4. a laser range finder; 5. an image recognition system.
Detailed Description
The application will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1:
in order to improve the detection efficiency of the blast hole and simplify the detection device and the calculation amount, as shown in fig. 1, the embodiment provides a non-contact hole inspection method for a tunnel by a drilling and blasting method, which comprises the following steps:
acquiring a working face image; the face image may be understood as a face image; can be realized by image acquisition equipment such as a camera and the like;
determining all blast hole positions according to the working face image;
at each determined blast hole position, obtaining the distance from a measuring point to a continuous point on a working surface at different angles; the maximum distance among the distances from the measuring point to the continuous point on the working surface is the depth of the blast hole, and the inclination angle of the measuring point and the point on the working surface corresponding to the maximum distance is the inclination angle of the blast hole; the distance detection can be realized by a laser range finder;
firstly, determining all gun hole positions through a working face image; then, at the determined position of each blast hole, the distance from the measuring point to the continuous point on the working surface at different angles is obtained; and in the distances from the measuring points to the continuous points on the working surface, the maximum distance is the depth of the blast hole, and the inclination angle of the measuring points and the points on the working surface corresponding to the maximum distance is the inclination angle of the blast hole. The detection of the depth and the angle of the blast hole can be realized only through distance measurement, no extra calculation process is needed, automatic hole assay is facilitated, and the blast hole detection efficiency is improved.
And identifying all the blast holes in the working face image by using an embedded machine learning algorithm, and acquiring the coordinate positions of all the blast holes in the working face image.
Specifically, the embedded machine learning algorithm may adopt a YOLOv5 algorithm to train the acquired shot hole image, establish a shot hole recognition model and build the model in a robot system, so that the robot can automatically recognize the position of the shot hole.
Selecting a plurality of characteristic points of a vault, a left arch bar and a right arch bar of a tunnel in the working face image; and measuring coordinates of the feature points in the working face image, matching with coordinates of the same position of the actual tunnel excavation, performing coordinate conversion, and converting the image coordinates of all the gun holes into plane coordinates of the actual working face.
Specifically, the coordinate conversion process may be that: firstly, calculating the ratio of the actual distance between any two feature points to the image distance, and obtaining the ratio of the image coordinates to the actual coordinates. And (3) after the blast holes are identified, obtaining the image coordinates of the blast holes, and obtaining the real coordinates of the blast holes according to proportion conversion.
On a horizontal plane, adjusting different angles of a measuring point in the normal direction of a tunnel excavation plane; and on the vertical surface, the vertical angles of the measuring points are adjusted in the normal direction of the tunnel excavation platform. Optionally, in the horizontal plane, adjusting left and right angles in 60-degree direction ranges respectively in the normal direction of the tunnel excavation plane; on a vertical plane, adjusting an upper angle and a lower angle in 60-degree direction ranges respectively in the normal direction of a tunnel excavation platform; and (3) until the laser range finder continuously measures the current distance value from the rock wall, recording the horizontal direction inclination angle and the vertical direction inclination angle of the laser range finder and the laser range finding value in the inclination direction.
The derivative of the laser ranging numerical function in the adjacent region is calculated and is normally as follows:
wherein L is a laser ranging distance; θ is the included angle between the laser and the plane of the tunnel face; and r and h are respectively the hole radius and the depth of the blast hole, and are known quantities. If the derivative is infinite, then there is an obstacle inside the borehole.
Example 2:
as shown in fig. 2, the embodiment provides a non-contact hole inspection robot for a tunnel by drilling and blasting, which comprises a chassis 1, a mechanical arm 2 arranged on the chassis 1, a laser range finder 4 arranged on the mechanical arm 2 through a universal joint 3, and an image recognition system 5 arranged on the chassis 1; the universal joint is a multidirectional movable joint, the image recognition system 5 at least comprises image acquisition equipment such as a camera, and the laser range finder 4 and the image recognition system 5 are connected with a controller; when in operation, the device comprises:
a working face image can be acquired by the image recognition system 5;
determining all blast hole positions according to the working face image;
at each determined blasthole position, the distance from the measuring point to the continuous point on the working surface at different angles can be obtained through the laser range finder 4; and in the distances from the measuring points to the continuous points on the working surface, the maximum distance is the depth of the blast hole, and the inclination angle of the measuring points and the points on the working surface corresponding to the maximum distance is the inclination angle of the blast hole. Calculating the derivative of the laser ranging numerical function in the adjacent area, and if the derivative has infinite condition, then the inside of the blast hole is provided with an obstacle
The hole inspection robot in this embodiment can unmanned carry out the perforation inspection work before the tunnel blasting explosive fills, and whether inspection perforation angle, length satisfy the design requirement to whether the foreign matter such as rubble leads to the explosive to fill dislocation in the perforation is inspected, helps the accurate execution of tunnel blasting scheme, improves blasting operation automation level.
The laser range finder 4 is assembled on the universal joint 3, the universal joint 3 is assembled at the tail end of the mechanical arm 2, and the mechanical arm 2 and the image recognition system 5 are assembled on the chassis 1. The position of a blast hole is defined through the image recognition system 5, the universal joint 3 is moved to the region of the blast hole by the mechanical arm 2, the angle of the laser range finder 4 is adjusted by the universal joint 3, the distance is measured in real time by the laser range finder 4, the farthest distance is the effective blast hole depth, and the deflection angle of the laser range finder 4 is the blast hole angle when the farthest distance is; finally realizing non-contact hole inspection of the tunnel by the drilling and blasting method.
The bottom end of the mechanical arm 2 is connected with the chassis 1, the universal joint 3 is placed at the tail end of the mechanical arm, the mechanical arm 2 can flexibly shrink and expand in length through a motor or hydraulic drive, and the tail end of the mechanical arm 2 can reach and contact all tunnel excavation surface areas.
The universal joint 3 is arranged at the tail end of the mechanical arm 2 and is connected with the laser range finder 4, and can be driven to rotate through a motor and the like, and as the inclination angle of a blast hole does not exceed 60 degrees, the horizontal plane can be set to rotate in the left and right 60-degree direction ranges in the normal direction of a tunnel excavation plane, the horizontal plane can rotate in the up and down 60-degree directions in the normal direction of the tunnel excavation platform, and the horizontal-direction deflection angle and the vertical-direction deflection angle can be dynamically recorded.
The laser range finder 4 is fixedly arranged on the universal joint 3 and can incline along with the rotation of the universal joint 3; the laser range finder 4 can continuously measure and record the distance between the laser transmitter and the rock face.
The image recognition system 5 is installed on the chassis 1, can shoot the face image by means of digital shooting and the like, automatically recognizes the muzzle features by a built-in embedded machine learning algorithm, converts the image coordinates and the space coordinate positions according to the photogrammetry principle, and determines the position space coordinates of the muzzle.
The chassis 1 provides a stable platform for the mechanical arm 2 and houses the image recognition system 5. The chassis 1 has travelling capability and can be remotely controlled to move by a person; the support legs are provided, so that a stable platform can be provided in the operation process; the system can be connected with the above systems and has the power supply and data transmission capabilities.
The working steps or principles of this embodiment are:
s1, after a tunnel drilling operation procedure is finished, the hole inspection robot moves to a tunnel excavation face area, and the chassis 1 props up supporting legs to be fixed.
S2, starting the blasthole image recognition system 5, shooting an overall image of the face, recognizing all blastholes in the image by using an embedded machine learning algorithm, and obtaining the coordinate positions of all blastholes in the overall picture of the face. And (3) selecting characteristic points such as vault, left arch leg, right arch leg and the like in the whole picture of the tunnel face, measuring coordinates of the characteristic points in the picture, matching with coordinates of the same position of the actual tunnel excavation, carrying out coordinate conversion, and converting image coordinates of all gun holes into plane coordinates of the real tunnel face.
S3, starting the mechanical arm 2, transmitting the plane coordinates of the face of the gun hole opening to the mechanical arm 2, and moving the tail end of the mechanical arm 2 to the position of the real gun hole opening by the mechanical arm 2 according to the gun hole opening coordinates.
S4, starting the universal joint 3 and the laser range finder 4, wherein the universal joint 3 rotates from left to right and from top to bottom in 60-degree direction ranges on the horizontal plane in the normal direction of the tunnel excavation plane and from left to right and from bottom to top in 60-degree direction on the vertical plane in the normal direction of the tunnel excavation platform until the laser range finder continuously measures the current distance value with the rock wall, and can also rotate from right to left and from bottom to top. And recording the inclination angle of the universal joint 3 in the horizontal direction, the inclination angle of the universal joint in the vertical direction and the laser ranging value in the inclination direction.
S5, selecting the maximum value of the laser ranging values, and considering the maximum value as the depth of the blast hole. And (5) measuring the maximum value, wherein the inclined angle is the inclination angle of the blast hole. And calculating the derivative of the laser ranging numerical function in the adjacent area, and if the derivative has infinity, considering that an obstacle exists in the blast hole, wherein the distance between the obstacle and the blast hole mouth is the distance value of a point with the infinity derivative.
And S6, according to the muzzle coordinates provided by the image recognition system 5, the mechanical arm 2 moves to the next muzzle position, and the steps S4 and S5 are repeated until all the muzzles are detected.
S7, recycling the equipment from the face area to the outside of the tunnel, and finishing the detection of the blast hole.
The implementation can realize unmanned test holes, and the operation safety is improved; the automatic and digital test hole is realized, the rubber rod is used for sounding by using laser ranging instead of manual work, the detection of the depth of the blast hole is more accurate, and the digital uploading can be realized; the inclination angle of the blast hole can be measured, and the blasting scheme can be accurately executed.
Example 3:
the embodiment provides a non-contact hole inspection system for a drilling and blasting method tunnel, which comprises the following steps:
a data acquisition module configured to: acquiring a working face image;
a blasthole location determination module configured to: determining all blast hole positions according to the working face image;
a verification module configured to: at each determined blast hole position, obtaining the distance from a measuring point to a continuous point on a working surface at different angles; and in the distances from the measuring points to the continuous points on the working surface, the maximum distance is the depth of the blast hole, and the inclination angle of the measuring points and the points on the working surface corresponding to the maximum distance is the inclination angle of the blast hole.
The working method of the system is the same as that of the tunnel non-contact hole inspection method for the drilling and blasting method in embodiment 1, and is not repeated here.
Example 4:
the present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method for non-contact hole inspection of a tunnel by a drill-burst method described in embodiment 1.
Example 5:
the present embodiment provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the method for drilling and blasting tunnel contactless hole inspection described in embodiment 1 when the program is executed.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (10)
1. The non-contact hole inspection method for the tunnel by the drilling and blasting method is characterized by comprising the following steps of:
acquiring a working face image;
determining all blast hole positions according to the working face image;
at each determined blast hole position, obtaining the distance from a measuring point to a continuous point on a working surface at different angles; and in the distances from the measuring points to the continuous points on the working surface, the maximum distance is the depth of the blast hole, and the inclination angle of the measuring points and the points on the working surface corresponding to the maximum distance is the inclination angle of the blast hole.
2. The method for non-contact hole inspection of a tunnel by using a drilling and blasting method according to claim 1, wherein all the gun holes in the working face image are identified by using an embedded machine learning algorithm, and the coordinate positions of all the gun holes in the working face image are obtained.
3. The non-contact hole inspection method for a tunnel by a drilling and blasting method according to claim 2, wherein a plurality of characteristic points of a vault, a left arch bar and a right arch bar of the tunnel in the working face image are selected; and measuring coordinates of the feature points in the working face image, matching with coordinates of the same position of the actual tunnel excavation, performing coordinate conversion, and converting the image coordinates of all the gun holes into plane coordinates of the actual working face.
4. The non-contact hole inspection method for the tunnel by the drilling and blasting method according to claim 1, wherein the adjustment of different angles around a measuring point is performed on a horizontal plane in the normal direction of the tunnel excavation plane; and on the vertical surface, the vertical angles of the measuring points are adjusted in the normal direction of the tunnel excavation platform.
5. The method for non-contact hole inspection of a tunnel by a drill and burst method according to claim 1, wherein the derivative of the laser ranging numerical function in the adjacent area is calculated, and if the derivative has infinity, then the inside of the hole has an obstacle.
6. The method for non-contact hole inspection of a tunnel by using a drilling and blasting method according to claim 1, wherein the working face image is a face image.
7. The non-contact hole inspection robot for the tunnel by the drilling and blasting method is characterized by comprising a chassis, a mechanical arm arranged on the chassis, a laser range finder arranged on the mechanical arm and an image recognition system arranged on the chassis; when in operation, the device comprises:
acquiring a working face image through the image recognition system;
determining all blast hole positions according to the working face image;
at each determined blast hole position, obtaining the distance from a measuring point to a continuous point on a working surface at different angles through the laser range finder; and in the distances from the measuring points to the continuous points on the working surface, the maximum distance is the depth of the blast hole, and the inclination angle of the measuring points and the points on the working surface corresponding to the maximum distance is the inclination angle of the blast hole.
8. A non-contact hole inspection system for a tunnel by a drilling and blasting method, comprising:
a data acquisition module configured to: acquiring a working face image;
a blasthole location determination module configured to: determining all blast hole positions according to the working face image;
a verification module configured to: at each determined blast hole position, obtaining the distance from a measuring point to a continuous point on a working surface at different angles; and in the distances from the measuring points to the continuous points on the working surface, the maximum distance is the depth of the blast hole, and the inclination angle of the measuring points and the points on the working surface corresponding to the maximum distance is the inclination angle of the blast hole.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method for non-contact hole inspection of a tunnel by a drill-burst method as claimed in any one of claims 1-6.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method for non-contact hole inspection of a brill-burst tunnel as claimed in any one of claims 1-6 when the program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310966524.5A CN117237445A (en) | 2023-08-02 | 2023-08-02 | Non-contact hole inspection method, robot and system for tunnel by drilling and blasting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310966524.5A CN117237445A (en) | 2023-08-02 | 2023-08-02 | Non-contact hole inspection method, robot and system for tunnel by drilling and blasting method |
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| Publication Number | Publication Date |
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| CN117237445A true CN117237445A (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310966524.5A Pending CN117237445A (en) | 2023-08-02 | 2023-08-02 | Non-contact hole inspection method, robot and system for tunnel by drilling and blasting method |
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| Country | Link |
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| CN (1) | CN117237445A (en) |
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- 2023-08-02 CN CN202310966524.5A patent/CN117237445A/en active Pending
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