Karst cave internal structure detection method and device based on unmanned aerial vehicle

Abstract

The invention discloses a karst cave internal structure detection method and device based on an unmanned aerial vehicle. The invention aims to provide a detection method and a detection device which are simple in structure, low in cost and easy to operate. The detection method comprises the steps of detecting each depth in each complex region in the karst cave by using the unmanned aerial vehicleas a carrier to obtain the coordinates of the set points of the cave wall, and further obtaining a three-dimensional map of the internal structure of the karst cave. In addition, the invention furtherprovides a karst cave internal structure detection device based on the detection method.

Description

technical field [0001] The invention relates to the field of detecting the internal structure of karst caves, in particular to a method and device for detecting the internal structure of karst caves based on an unmanned aerial vehicle. Background technique [0002] Lava rock is a common geological area during tunneling. Lava rocks are limestone, dolomite, gypsum, rock salt and other soluble rock formations that have been eroded by water flow all year round, and are gradually eroded into karst grooves, karst trenches or caves, and their distribution is irregular. In the process of tunnel excavation, according to the relative position of the karst cave to the established route of the tunnel, it is usually divided into four situations, that is, the karst cave is located on the vault, the waist, the side wall and the bottom of the vault, but sometimes when the tunnel is excavated to a certain position, in the Undetected karst caves may appear suddenly in front of them. For the ...

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Problems solved by technology

[0003] Commonly used cave detection methods at this stage include advanced drilling, geophysical drilling, electromagnetic tomography CT detection, and three-height measurement technology. detection, so that there are many defects: on the one hand, this type of technology can only detect part of the cave, on the other hand, most of these technologies can only judge the existence of the cave and cannot determine the internal structure and size of the cave

Especially for the karst caves that suddenly appear on the front excavation face during tunnel excavation, due to space constraints, ordinary measurement techniques and other manual detection techniques cannot be used in karst caves, and the above-mentioned detection methods are even more helpless

[0004] Chinese patent document CN201610361295.4 proposes a detection method for exploring the internal structure of karst caves. Although the internal structure of karst caves can be detected to a certain extent, it still takes the surface as the base point and conducts instrument detection through drilling. During the lowering process, it can only be kept on a vertical line. When the interior of the cave is complicated (such as when there is a bend), it is impossible to carry out complete cave detection, and the internal structure of the detector itself is extremely complicated; Chinese patent document CN201711406069.4 also A detection method for address defects in karst areas based on unmanned aerial vehicles is proposed. Although the technology using unmanned aerial vehicles is relatively new, it uses digital impact recognition technology, and the final 3D modeling is expensive and costly. not suitable for regular use

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