GB2568852A - Device for measuring three-dimensional information of underground space and detection method therefor - Google Patents
Device for measuring three-dimensional information of underground space and detection method therefor Download PDFInfo
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- GB2568852A GB2568852A GB1904684.6A GB201904684A GB2568852A GB 2568852 A GB2568852 A GB 2568852A GB 201904684 A GB201904684 A GB 201904684A GB 2568852 A GB2568852 A GB 2568852A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- 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
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Geophysics And Detection Of Objects (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
A device for measuring three-dimensional information of an underground space and a detection method therefor, the measuring device comprising a sensor system, a power system, a housing protection system and a conduction system; the housing protection system comprises a constituent part of a sealed upper portion metal housing (3-1) and lower portion metal housing (3-9); the power system comprises a motor (2-1), a signal transmitter (2-2), a magnetometer (2-3), a gyroscope (2-4) and a circuit board (2-5); the sensor system comprises an ultrasonic sensor (1-1), a temperature sensor (1-2) and a video sensor (1-3); and the conduction system comprises a metal contact pin (4-1), a gear (4-3) and an upper end cap (4-4) wherein an upper portion is connected to a lifting cable, the metal contact pin (4-1) being provided at a top end of the upper portion metal housing (3-1). The measuring device may monitor the three-dimensional shape of an underground cavern at high temperatures and under high pressure, the acquired cavity shape information being significant to the evaluation of the stability of an underground structure. The detection method for the measuring device is simple to operate, and may effectively detect three-dimensional space information of an underground cavern at high temperatures and under high pressure.
Description
The present invention relates to measurement technology of underground space, especially to measuring the size, shape and spatial position of underground cavities and detection method thereof, which is primarily used in measurement of underground goaf.
Background Technology:
Salt caverns in deep underground could serve as oil and gas storage place, however, it is hard to control the underground cavity shape as it is made by solution mining. To maintain an ideal shape, it is necessary to gather three-dimensional information of cavities in the process of solution mining for further control and optimization of the shape. After construction, it is necessary to collect three-dimensional information of the cavities for stability analysis and evaluation. As it is impossible to enter such kind of underground space, and the ground-based radar used in the prior art is energy-consuming, and inaccurate, which cannot meet the engineering demand, developing a kind of device which is capable to probe the underground cavities in 3-dimension is quite important.
Detailed description of the invention
The present invention aims to overcome the deficiencies of existing measurement method, and provides a device and detection method thereof to detect size, shape and spatial position information of underground cavities. The measurement device has a simple structure and works effectively to detect the 3D information of underground cavities in high temperature and pressure. In order to solve the problems above, the technical scheme of the invention is as follows: a measurement device to get 3D information of underground cavities, characterized in the sensor system, power system, protective system and conduction system.
The protective system is consisted of well-sealed upper and lower metal housings, which are connected by a load transferring bearing with a wiring duct inside. In the middle part at the lower end of the lower metal housing, there is an opening where a compensator is installed to balance the pressure difference between inside and outside of the device. In the upper metal housing, a motor, a signal transmitter, a magnetometer, a gyroscope and a circuit board are installed from the bottom up respectively. At the lower part of the lower metal housing, a grounding protection end is installed.
Specifically, the power system comprises a motor connected with the load transferring bearing, a signal activator to transmit ultrasonic signal, a magnetometer for north-finding, a gyroscope to control the rotation of the lower housing, and a circuit board used to control the working state of the device.
Furthermore, the sensor system comprises ultrasonic sensors, which are installed in the lower metal housing to transmit and receive ultrasonic signals, temperature sensors and video sensors used to monitor the current conditions.
Further, the conduction system comprises metal pins used to connect inside of the device with outside, wires configured to connect metal pins, circuit board and sensors, gear and an upper cap connected with the hoisting cable. The said metal pins are installed on the top of the metal housing, and the gear connected with load transferring bearing is installed on the output of the motor. When starting the motor, the gear and bearing run thereafter, so that the lower housing rotates 360 degrees. The lower end of the upper cap is connected with the top end of the metal housing.
Preferably, the compensator is made of rubber, and a metallic sealing ring and pins are installed outside it. When the device is working, the lower metal housing is filled with lubricating oil. And when internal pressure of lubricating oil is greater than that of the outside liquid, the compensator is characterized by outwards convex. On the contrary, when the internal pressure is lower, the compensator exhibits inwards concave feature.
Preferably, a sealing ring is fixed on the load transferring bearing.
Preferably, sealing rings are used where the ultrasonic sensors, temperature sensor and video sensors are installed.
Preferably, there are two ultrasonic sensors, one at the bottom end of the lower metal housing, to measure height of underground cavities, the other on the side of the lower metal housing, to measure the information within radius of the cavities. The temperature sensor is also installed on the bottom of the lower housing. What's more, there are two video sensors, one installed on the bottom of the lower housing to measure features of the bottom surface of cavities, the other on one side to gather the surrounding information.
Preferably, there are six metal pins, which are connected to the circuit board with wires, and thereafter connected to the ultrasonic sensor at the bottom, the ultrasonic sensor at the side, the video sensor at the bottom, the video sensor at the side, the temperature sensor and the motor, respectively, through inner channels of the load transferring bearing.
The present invention provides the method detecting the 3D information of underground space, with the following steps:
(a) Put the device into the cavity through the drilling casing by an on-ground winch and cable. Record the calibration of the cable to make sure that it descends no faster than 3000 m/h. During the declining process, conditions inside the cavities surrounding the device can be detected by the side and bottom video sensors, and the temperature is recorded by the temperature sensors.
(b) During descending of the measurement device, the ultrasonic sensor on the bottom surface starts to transmit ultrasonic signals, which can be received when the device is in a distance of less than 80 meters from the bottom of the cavity. The position of the detecting device could be obtained according to the propagation speed and time of the ultrasonic in the cavity.
(c) Drop the device slowly until it is 0.5 m from the cavity bottom surface, and the burial depth of the device can be obtained with the calibration of cable.
(d) Turn on the magnetometer to seek north, and then start the side ultrasonic sensor 1-1 to transmit signals. The cavity radius in the north could be calculated according to the propagation speed and the time difference between ultrasonic transmitting and receiving.
(e) Start the motor and the gyroscope, and the device will rotate 360 degrees during which, radius information in the said burial depth can be calculated with the ultrasonic sensor on the side.
(f) Raise the detecting depth for 1 m, repeat steps (d) to (e), and the two-dimensional cavity information of the present burial depth could be obtained.
(g) Repeat step (f) until the device is lifted up to the top of the cavity, and at this time the information of two-dimensional images in different burial depths is ready. Finally, the threedimensional features could be obtained after an integral and summation calculation.
(h) Lift the device up after finishing the measurement activity and the rising speed should not exceed 2500 m/h. When the device is close to the cavity top, decrease the rising speed to 50 m/h.
The effects of the technical proposal area as follows:
The invention includes a sensor system, a power system, a protective housing system and a conduction system, which is simple in structure and easy to operate. The ultrasonic sensors can detect dimension of underground cavities in vertical and horizontal directions. The video sensor can collect the surroundings images and the temperature sensor can get temperature information. In the present invention, it is possible to monitor the three-dimensional shape of underground cavities in high temperature and pressure state. The obtained cavity information plays a significant role in evaluating the stability of underground structures. The measurement method based on the present measurement device is convenient to operate, and the three-dimensional information of underground cavities can be detected effectively under high temperature and high pressure.
Description of drawings
FIG. 1 is a structural view of the present device.
FIG. 2 is a structural view of metal pins on the upper metal housing.
FIG. 3 is a two-dimensional drawing of a cavity in a certain burial depth.
FIG. 4 is three-dimensional drawing of a cavity.
Among which, 1-1 ultrasonic sensor, 1-2 temperature sensor, 1-3 video sensor, 2-1 motor, 2-2 signal transmitter, 2-3 magnetometer, 2-4 gyroscope, 2-5 circuit board, 3-1 upper metal housing, 3-2 load transferring bearing, 3-3 conductor track, 3-4 sealing ring, 3-5 compensator, 3-6 metal seal ring, 37 pin, 3-8 protective ground head, 3-9 lower metal housing, 4-1 metal pin, 4-2 wire, 4-3 gear 4-4 upper cap.
Specific embodiments
In order to realize the said goals, and make features and advantages of the present invention more comprehensible, the technical scheme of the present invention will be clearly and completely described according to the drawings and specific embodiments. Apparently, the described embodiments are merely some, rather than all. Based on the embodiments mentioned in the invention, other embodiments obtained by ordinary technicians without any creative efforts in the field are belonged to the protection scope of the invention.
In accordance with Fig 1 to Fig 4, the detecting device comprises a sensor system, a power system, a protective housing system and a conduction system.
The sensor system comprises ultrasonic sensors 1-1, temperature sensors 1-2, and video sensor 1-3. There are two ultrasonic sensors, one installed on the bottom of the device, and the other one at the side of the lower metal housing 3-9 to transmit and receive ultrasonic signals. The ultrasonic sensor on the bottom is designed to detect the height of the cavity, and the one at the side to detect the radial information. The temperature sensor 1-2 is installed on the bottom of the device to gather temperature information of the position where the device is located. There are two video sensors 1-3, one on the bottom of the device to get the information on the bottom surface of the cavity, the other at the side to gather environmental information surrounding the detection device.
The power system includes motor 2-1, signal transmitter 2-2, magnetometer 2-3, gyroscope
2- 4, and circuit board 2-5. The motor 2-1 is installed on the upper end of the protective system, and provides power to the lower protective housing for rotating. Signal transmitter 2-2 is also installed on the upper end of the protective system to transmit ultrasonic signals. The magnetometer 2-3 is installed on the upper part of the protective system to conduct north-finding function. The gyroscope 2-4 is installed on the upper part of the protective system to control the rotation of the lower part of the protective system. The circuit board 2-5 is installed on the upper part of the protective system to control the operating state of the device. The circuit board can be the one made by SEAMA, model SMBL2410A, and it is possible to use other products too.
The protective housing system is well sealed with the metal housing covering the whole device to protect the inner electronic components. The system is consisted of an upper metal housing 31 and a lower metal housing 3-9, which are connected by a load transferring bearing 3-2. Wiring duct 3-3 is installed inside the bearing to ensure the signal and circuit connection between the upper and lower part of the protective system. In the load transferring bearing 3-2, a sealing ring
3- 4 is installed to keep the device closed and prevent liquid entering inside. On the upper end of the protective system, motor 2-1, signal transmitter 2-2, magnetometer 2-3, gyroscope 2-4 and circuit board 2-5 are installed to control the working state of the device. A motor 2-1 is connected to the load transferring bearing 3-2 to provide power to the lower part of the protective system. In the middle part at the lower end of the lower protective system, a compensator 3-5 made of rubber is installed to balance the pressure difference inside and outside the device. When the equipment is operating, the lower part of the protective system is filled with lubricating oil. And when internal pressure of lubricating oil is greater than the outside liquid, the compensator is characterized by outwards convex. On the contrary, when the internal pressure is lower, the compensator exhibits inward concave feature. A metallic sealing ring 3-6 and a pin 3-7 are installed outside the compensator 3-5, which ensures the proper sealing at the connection between the compensator 3-5 and the lower part of the protective system. Ultrasonic sensors 1-1, a temperature sensor 1-2, and video sensors 1-3 are installed in the lower part of the protection system and sealing rings 3-4 are used to keep the device closed and prevent liquid entering inside. And a protective grounding end 3-8 is installed on the lower part of the protective system to protect the ultrasonic sensors 11, temperature sensor 1-2 and video sensors 1-3.
The conduction system includes metal pins 4-1, a wire 4-2, a gear 4-3 and an upper cap 4-4. The metal pins 4-1 are installed on the top of the protective housing system to ensure the connection between inside and outside of the device. Six metal pins 4-1 are installed, which are connected to the circuit board via the wire 4-2, and they are connected to the bottom ultrasonic sensors 1-1, the side ultrasonic sensors 1-1, the bottom video sensors 1-3, the side video sensors 1-3, the temperature sensor 1-2 and the motor 2-1, respectively, through inner channels of the load transferring bearing. The wires 4-2 are used to connect metal pins 4-1, circuit board 2-5 and all kinds of sensors. The gear 4-3, connected with load transferring bearing 3-2 is installed on the output of motor 2-1. When the motor 2-1 is started, the gear 4-3 and bearing 3-2 run thereafter, so that the lower part of the protective system rotates 360 degrees. The upper cap 4-4 is connected to the upper end of the protective system and a sealing ring 3-4 is installed to ensure their hermetic sealing. The lower end of the upper cap 4-4 is connected to the upper end of the protective system, and a sealing ring is installed to make them properly sealed. On the top of the upper cap 4-4, a hoisting cable is connected to accomplish the underground operation.
The present invention provides the method for measuring the 3D information of underground space with the following steps:
(a) Put the device into the cavity through the drilling casing by an on-ground winch and cable. Record the calibration of the cable to make sure it descend no faster than 3000 m/h. During the declining process, conditions inside the cavities can be detected by the side and bottom video sensors 1-3, and the temperature is recorded by the temperature sensors 1-2.
(b) During descending of the measurement device, the ultrasonic sensor 1-1 on the bottom surface starts to transmit ultrasonic signals, which can be received when the device is in a distance of less than 80 meters from the bottom of the cavity. The position of the detecting device could be obtained according to the propagation speed and time of the ultrasonic in the cavity.
(c) Drop the device slowly until it is 0.5 m from the cavity bottom surface, and the burial depth of the device can be obtained with the calibration of the cable.
(d) Turn on the magnetometer 2-3 to seek north, and then start the side ultrasonic sensor 11 to transmit signals. The cavity radius in the north could be calculated according to the propagation speed and the time difference between ultrasonic transmitting and receiving.
(e) Start the motor 2-1 and the gyroscope 2-4, and the device will rotate 360 degrees during which, radius information in all directions of the said burial depth can be calculated with the ultrasonic sensor 1-1 to the side.
(f) Raise the detecting depth for 1 m, repeat steps (d) to (e), and the two-dimensional cavity information of the present burial depth could be obtained, please see the figure 3.
(g) Repeat step (f) until the device is lifted up to the top of the cavity, and at this time the information of two-dimensional images in different burial depths is ready. Finally, the threedimensional features could be obtained after an integral and summation calculation, please refer to the figure 4.
(h) Lift the device up after finishing the measurement activity and the rising speed should not exceed 2500 m/h. When the device is close to the cavity top, decrease the rising speed to 50 m/h.
The above descriptions of the disclosed embodiments guide the technicians to implement the invention, and it's apparent that it is possible to modify the embodiments. The general principle can be used in other circumstances within the meaning or scope of the invention. Accordingly, it is not limited to the embodiments shown herein, but the widest range in accordance with the disclosed principles and novel characteristics in the invention.
Claims (7)
1. A measurement device of 3D information of underground space comprises a sensor system, a power system, a protective housing system and a conduction system;
The protective housing system is consisted of well-sealed upper metal housing (3-1) and a lower metal housing (3-9), which are connected by a load transferring bearing (3-2); a wiring duct 3-3 is installed inside the bearing (3-2); in the middle part at the lower end of the lower protective system, a compensator (3-5) made of rubber is installed to balance the pressure difference between inside and outside the device; in the upper metal housing (3-1), a motor (2-1), a signal transmitter (2-2), a magnetometer (2-3), a gyroscope (2-4) and circuit board (2-5) are installed; and a protective grounding end (3-8) is installed on the lower protective housing (3-2);
The power system comprises a motor (2-1) to connect with the load transferring bearing (3-
2) , a signal activator (2-2) to transmit ultrasonic signal, a magnetometer (2-3) to find north, a gyroscope (2-4) to control the rotation of the lower protective housing, and a circuit board (2-5) used to control the working conditions of the measurement device;
The sensor system comprises ultrasonic sensors (1-1), which are installed in the lower metal housing to transmit and receive ultrasonic signals, temperature sensors (1-2) and video sensors (1-
3) used to monitor the current conditions;
The conduction system includes metal pins (4-1) used to ensure connection between inside of the device and outside, wires (4-2) configured to connect metal pins (4-1), circuit board (2-5) and sensors, gear 4-3 and an upper cap (4-4) connected with the hoisting cable; the metal pins (41) are installed on the top of upper protective housing (3-1); the gear (4-3), connected with load transferring bearing (3-2) is installed on the output of motor (2-1); when the motor (2-1) is started, the gear (4-3) and bearing (3-2) run thereafter, so that the lower metal shell (3-9) rotates 360 degrees. The lower end of the upper cap (4-4) is connected to the upper end of the upper protective housing (3-1).
2. A measurement device of 3D information of underground space according to claim 1, the measurement device of 3D information of underground space is characterized in that, the compensator (3-5) is made of rubber, and a metallic packing ring (3-6) and a pin (3-7) are installed outside the compensator (3-5); when the equipment is operating, the lower part of the lower protective housing (3-9) is filled with lubricating oil; and when internal pressure of lubricating oil is greater than the outside liquid, the compensator is characterized by outwards convex shape; on the contrary, when the internal pressure is lower, the compensator exhibits inwards concave feature.
3. A measurement device of 3D information of underground space according to claim 1, the measurement device of 3D information of underground space is characterized in that the sealing ring (3-4) is fixed on the load transmission bearing (3-2).
4. A measurement device of 3D information of underground space according to claim 1, the measurement device of 3D information of underground space is characterized in that, the sealing rings (3-4) are used where the ultrasonic sensor (1-1), temperature sensor (1-2) and video sensor (1-3) are installed.
5. A measurement device of 3D information of underground space according to claim 1, the measurement device of 3D information of underground space is characterized in that, there are two ultrasonic sensors (1-1), one at the bottom end of the lower metal housing (3-9), to measure height of underground cavities, the other at the side of the lower metal housing (3-9), to measure the information within radius of the cavities; the temperature sensor (1-2) is also installed on the bottom of the lower metal housing (3-9); what's more, there are two video sensors (1-3) one installed on the bottom of lower housing (3-9) to measure feature of the bottom surface of cavities, the other on one side to gather the surrounding information.
6. A measurement device of 3D information of underground space according to claim 1, the measurement device of 3D information of underground space is characterized in that, there are six metal pins (4-1), which are connected to the circuit board with wires (4-2), and thereafter connected to the ultrasonic sensor (1-1) on the bottom, the ultrasonic sensor (1-1) to the side, the video sensor (1-3) on the bottom, the video sensor (1-3) to the side, the temperature sensor (1-2) and the motor (2-1), respectively, through inner channels of the load transferring bearing (3-2).
7. A measurement device of 3D information of underground space according to claim 1, the present invention provides the method measuring the 3D information of underground space with the following steps:
(a) Put the device into the cavity through the drilling casing by an on-ground winch and cable; record the calibration of the cable to make sure that it descends no faster than 3000 m/h; during the declining process, the surroundings of the device can be detected by the side and bottom video sensors (1-3), and the temperature is recorded by the temperature sensors (1-2);
(b) During descending of the measurement device, the ultrasonic sensor (l-l)on the bottom surface starts to transmit ultrasonic signals, which can be received when the device is in a distance of less than 80 meters from the bottom of the cavity; the position of the detecting device could be obtained according to the propagation speed and time of the ultrasonic in the cavity;
(c) Drop the device slowly until it is 0.5 m from the cavity bottom surface, and the burial depth of the device can be obtained with the scale of cable;
(d) Turn on the magnetometer (2-3) to seek north, and then start the side ultrasonic sensor (1-1) to transmit signals; the cavity radius in the north could be calculated according to the propagation speed and the time difference between ultrasonic transmitting and receiving;
(e) Start the motor (2-1) and the gyroscope (2-4), and the device will rotate 360 degrees during which, radius information in all directions of the said burial depth can be calculated with the ultrasonic sensor (l-l)to the side;
(f) Raise the detecting depth for 1 m, repeat steps (d) to (e), and the two-dimensional cavity information of the present burial depth could be obtained, please see the figure 3;
(g) Repeat step (f) until the device is lifted up to the top of the cavity, and at this time the information of two-dimensional images in different burial depths is ready; finally, the threedimensional features could be obtained after an integral and summation calculation, please refer to the figure 4;
(h) Lift the device up after finishing the measurement activity and the rising speed should not exceed 2500 m/h; and when the device is close to the cavity top, reduce the rising speed to 50 m/h.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710800194.7A CN107367728B (en) | 2017-09-07 | 2017-09-07 | Measuring device for three-dimensional information of underground space and detection method thereof |
| PCT/CN2017/114351 WO2019047391A1 (en) | 2017-09-07 | 2017-12-02 | Device for measuring three-dimensional information of underground space and detection method therefor |
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| Publication Number | Publication Date |
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| GB201904684D0 GB201904684D0 (en) | 2019-05-15 |
| GB2568852A true GB2568852A (en) | 2019-05-29 |
| GB2568852B GB2568852B (en) | 2022-07-13 |
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| GB1904684.6A Active GB2568852B (en) | 2017-09-07 | 2017-12-02 | Measurement device of 3D information of underground space and measurement method thereof |
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|---|---|
| CN (1) | CN107367728B (en) |
| GB (1) | GB2568852B (en) |
| WO (1) | WO2019047391A1 (en) |
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| CN107367728B (en) * | 2017-09-07 | 2023-06-27 | 石家庄铁道大学 | Measuring device for three-dimensional information of underground space and detection method thereof |
| CN109489187B (en) * | 2018-09-25 | 2020-08-21 | 珠海格力电器股份有限公司 | Control method and device and air conditioning device |
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| CN111197483B (en) * | 2018-10-31 | 2022-09-23 | 中石化石油工程技术服务有限公司 | Ultrasonic detector for fish falling in petroleum drilling |
| CN111077565A (en) * | 2019-12-27 | 2020-04-28 | 利玄英 | Geological detection device |
| CN114992523A (en) * | 2022-06-07 | 2022-09-02 | 国家石油天然气管网集团有限公司 | System and method for monitoring pipeline running state |
| CN115389574B (en) * | 2022-10-28 | 2023-03-10 | 泰山学院 | Soil moisture content rapid detection sensor based on flat-plate capacitance method |
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2017
- 2017-09-07 CN CN201710800194.7A patent/CN107367728B/en active Active
- 2017-12-02 GB GB1904684.6A patent/GB2568852B/en active Active
- 2017-12-02 WO PCT/CN2017/114351 patent/WO2019047391A1/en active Application Filing
Patent Citations (2)
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| CN105571639A (en) * | 2015-12-23 | 2016-05-11 | 山东大学 | Internal vision device and method for internal form of dry cave in karst region |
| CN107367728A (en) * | 2017-09-07 | 2017-11-21 | 石家庄铁道大学 | A kind of measurement apparatus and its detection method of underground space three-dimensional information |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107367728A (en) | 2017-11-21 |
| WO2019047391A1 (en) | 2019-03-14 |
| GB201904684D0 (en) | 2019-05-15 |
| GB2568852B (en) | 2022-07-13 |
| CN107367728B (en) | 2023-06-27 |
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