1462 results about "Observation system" patented technology

Provided herein is a tunnel electromagnetic joint scanning detection method and a system thereof. It introduces a new tunnel electromagnetic detection system called TEJS, realizes three-dimensional joint inversion of multi-component, time domain and frequency domain signals, and forms tunnel joint scanning imaging. This method adopts the mode of surface transmission, underground reception, multi-source transmission and multi-component reception. Based on an observation system, a large number of stochastic models are constructed and numerically simulated, and a large number of training data sets are constructed by using the simulated data to complete the training of UNet model. This model can realize real-time and fast imaging of the position of the low-resistance anomalous body in three-dimensional space. An algorithm forms a dual checking mechanism through surface imaging and underground imaging, which constrains the three-dimensional spatial position of anomalous body together to prevent misjudgment.

A transient electromagnetic scanning detection system and method. An all-terrain vehicle carrying an instrument tows a transmitting coil and a receiving coil having an offset distance of 6-8 meters therebetween, wherein the transmitting coil arbitrarily rotates within an XZ plane, the receiving coil moves in an X direction and a Z direction, and GPSs are carried on the coils. During working, the vehicle stays for a short time every few meters, the transmitting coil performs rotary scanning until 180 degrees, and the receiving coil completes scanning detection of one point; and the process is repeated when the vehicle travels to the next detection point. The inversion is implemented by means of a deep learning model, a large number of resistivity models are randomly generated, and on the basis of an observation system, numerical simulation is performed on an induced electromotive force corresponding to each resistivity model. On the basis of induced electromotive force data and the resistivity models, a deep learning framework-based TEM prediction model is established, wherein the induced electromotive force data is used as an input, and a two-dimensional resistivity structure below the coils is used as an output. The vehicle collects TEM data and imports same into a deep learning network to obtain an underground resistivity structure below the coils in real time to perform transient electromagnetic scanning detection.

The invention discloses a multi-source heterogeneous data fusion method of a sky tower ground well carbon flux observation system, which comprises the following steps of: 1, preprocessing and automatically correcting data to solve the problems of noise, space-time inconsistency, format difference and systematic error in a multi-source heterogeneous data acquisition process; the multi-source heterogeneous data are respectively from satellite remote sensing, unmanned aerial vehicle remote sensing, an eddy covariance flux tower, ground observation and underground observation; step 2, multi-level data fusion: extracting multi-source heterogeneous data from original signals step by step to form unified high-dimensional feature expression, and finally outputting real-time observation data of carbon emission and carbon sink of the coal mining area through a decision model; and step 3, performing comprehensive observation and application output, performing real-time analysis according to the real-time observation data, and outputting a detection result and early warning information. According to the method, an advanced algorithm with adaptive correction and multi-level fusion capability is adopted, and data fusion of five observation modules of the sky tower surface well is realized, so that the key bottleneck in the prior art is broken.

The invention relates to the technical field of three-dimensional observation, in particular to a geological deformation three-dimensional observation system and method, and the method comprises the steps: multi-dimensional data collection: synchronously obtaining data, and collecting ground temperature gradient field data and underground water flow velocity field data of a monitoring region; data space-time calibration processing: performing space-time reference unification processing on the acquired data to generate a multi-source displacement data set after space-time calibration; cold door parameter extraction: generating an environment coupling parameter matrix based on ground temperature gradient field data and underground water flow velocity field data in multi-dimensional data acquisition; modeling a three-dimensional deformation field: generating an initial three-dimensional deformation field model; dynamic model correction: performing iterative correction on the initial three-dimensional deformation field model to generate an optimized three-dimensional deformation field model; and visual early warning output: generating an early warning signal with a risk level identifier. According to the method, a multi-source heterogeneous data fusion system is constructed, and a cold geological parameter dynamic compensation mechanism is combined, so that high-precision three-dimensional deformation field modeling and early warning are realized.

The invention relates to the technical field of coal mine goaf exploration, in particular to a goaf combined detection and identification method fusing gravity, earthquake and transient electromagnetism, which comprises the following steps of: (1) arranging an earthquake, transient electromagnetism and gravity method combined observation system according to a detection geological task and a field condition of a coal goaf; (2) seismic data, transient electromagnetic data and gravity data are collected through the combined observation system; (3) performing independent inversion on the gravity data, the transient electromagnetic data and the seismic data to obtain density distribution, resistivity distribution and wave velocity distribution of the goaf; (4) carrying out a joint inversion method based on improved cross gradient seismic data, transient electromagnetic data and gravity data; (5) obtaining a joint inversion resistivity profile map, a joint inversion wave velocity profile map and a joint inversion density profile map of the goaf through joint inversion of the seismic data, the transient electromagnetic data and the gravity data of the goaf; and identifying development characteristics of the goaf.

An information processing apparatus (100) according to one embodiment of the present disclosure includes a guide image generation unit (133) configured to sum up a plurality of images each including spectral information regarding a biomarker, and perform a division on a result by a number of summed images to generate a guide image for correction.

The invention discloses an unmanned ship-based marine hydrology multi-parameter profile observation system, which comprises an unmanned ship, a control system and a data acquisition system, and the control system and the data acquisition system are arranged on the unmanned ship, the control system comprises a communication subsystem, a navigation subsystem and a navigation control subsystem, and the data acquisition system comprises a hydrological acquisition subsystem, a meteorological acquisition subsystem, a spatio-temporal information acquisition subsystem and a profile observation device subsystem. The section observation device subsystem comprises an electric winch device, an automatic cable arrangement device, a foreign matter shoveling device and an automatic cleaning device which are located on a ship deck of the unmanned ship. The system has the advantages of being full-automatic, low in cost, high in efficiency and high in precision, wide-area marine hydrological data can be collected in real time, safe operation under complex sea conditions is guaranteed through the self-adaptive risk avoiding and path planning functions of the system, real-time data return and interaction are achieved, and the timeliness of data collection and the flexibility of data utilization are greatly improved.

The invention belongs to the technical field of visual displacement monitoring, and particularly relates to a reservoir dam visual displacement real-time monitoring method, which comprises the following steps: S1, designing an observation bracket capable of synchronously supporting visual and manual measurement and an observation target with multiple feature matching points; s2, performing estimation based on the relative attitude of the visual camera and the observation target; s3, sub-pixel-level coordinate tracking and data conversion of the observation target are carried out; s4, resolving the horizontal and vertical displacement of the reservoir dam observation target. The observation support can synchronously support visual and manual observation, facilitates the development of manual check and measurement work, improves the working efficiency, and can guarantee the precision and reliability of a visual displacement observation system at the same time.

The invention provides a three-dimensional seismic exploration analysis method, which comprises the following steps: S1, exploration design: determining a three-dimensional seismic exploration range and a target horizon, and designing an observation system; s2, acquiring data, including staking out in survey, exciting seismic waves and receiving seismic signals; s3, data processing: preprocessing the collected seismic data, removing noise and interference signals, and improving the signal-to-noise ratio, resolution and precision of the seismic data; and S4, geological interpretation: according to the processed seismic data, interpreting the geological structure and coal seam distribution of the coal mine area in combination with geological and geophysical prospecting data. According to the method, richer and more accurate underground geological information can be provided, the detection precision and reliability of coal mine underground geological structures and coal seam distribution are improved, noise and interference signals can be effectively removed, the signal-to-noise ratio and resolution of seismic data are improved, and the method is suitable for exploration and development of coal mines of different scales.

The invention belongs to the technical field of automatic sailing of unmanned ships, and particularly relates to an automatic sailing temperature-salinity-depth profile observation system and method for mesoscale eddy prediction, the system is arranged on an unmanned ship and connected with an automatic retractable winch, and the system comprises a temperature-salinity-depth probe device arranged at the tail end of an A frame of the automatic retractable winch and used for retracting through the automatic retractable winch; lifting is realized, so that temperature, salinity and depth parameters of seawater with different profiles are measured, and key ocean data are provided for mesoscale eddy prediction; the data is transmitted to a mother ship / shore base end through a remote intelligent navigation control system; and the remote intelligent navigation control system is used for receiving various data and sending the data to the mother ship / shore base end, and controlling the driving process or task process of the automatic winding and unwinding winch, the temperature-salinity-depth probe device and the unmanned ship according to the instruction of the mother ship / shore base end. According to the invention, the laying and recovery of the temperature-salinity-depth profile measuring equipment can be controlled when the ship is sailing, and the laying and recovery of the sailing type temperature-salinity-depth profile measuring equipment can be carried out on the unmanned ship after upgrading and reconstruction.

The invention discloses a global enhancement method for a wide-area astronomical image. The method comprises the following steps: carrying out high-frame-frequency image acquisition on a starry sky area; converting the reference star from a star catalogue position to an observation position, and resolving a linear negative film model; geometric distortion correction is carried out based on the resolving result; based on the image after geometric distortion correction, matching and identifying a reference star in a full view field, and obtaining celestial coordinate information of all fixed star images in the view field; on the basis of celestial coordinate information, correcting a poorer astronomical effect of the astronomical image, establishing an ideal coordinate system taking the center of a view field as a tangency point, and projecting a time sequence observation image to the ideal coordinate system; translating the processed graph, accumulating all translated images, and averaging all accumulated pixel positions to realize image superposition enhancement, thereby effectively improving the dynamic range of a detector and the detection capability of a wide-area astronomical observation system; and meanwhile, the signal-to-noise ratio of the astronomical image can be effectively improved, and the astronomical image centering and light measuring precision can be further improved.

The invention relates to an elastic wave full waveform inversion method based on an optimal transmission function, and belongs to the field of seismic velocity modeling. The method comprises the following steps: firstly, establishing an observation system, selecting an excitation source with a certain frequency and a speed model, and receiving an actual seismic record and a simulated seismic record through the excitation source; secondly, introducing an optimal transmission function as a target function of inversion, and establishing a target functional formula; a timing wave field and a reverse time wave field are obtained through forward modeling and reverse time continuation, derivation is carried out on a target functional formula to obtain a gradient calculation formula, the gradient calculation formula is substituted into the timing wave field and the reverse time wave field, and the gradient is obtained. And optimizing the obtained gradient by using an Adam gradient optimization algorithm, and substituting the optimized gradient into iterative inversion to update the model. And repeating the steps until an inversion result meeting the precision requirement is obtained. Model experiments show that compared with a traditional L2 objective function, the method has the advantages that the event continuity of the inversion model is enhanced, the deep structure is clearer, and the overall precision is greatly improved.

The invention discloses a coal seam wind oxidation zone detection method based on dense array background noise imaging, and the method comprises the steps: firstly, investigating the geological information of a mining area, designing a dense array observation system according to the coal seam occurrence state and mining plan of the mining area, and recording the background noise data of about one week; secondly, obtaining an underground S-wave velocity structure based on surface wave frequency dispersion inversion; and finally, determining the lower limit of the coal seam wind oxidation zone in combination with a well logging curve calibration result. According to the method, a seismic surface wave signal capable of reflecting an underground structure is reconstructed from background noise data, an underground S wave speed structure is obtained through surface wave frequency dispersion curve inversion, logging curve calibration is combined, and then detection of a coal seam wind oxidation zone is achieved. The method has the advantages of high resolution, short construction period, low cost, environmental friendliness and the like.

The invention relates to the technical field of tunnel engineering and engineering geophysical prospecting, and discloses a seismic wave continuous detection method and system for a double-line TBM construction tunnel, and the method comprises the steps: laying an observation system, and carrying out the data collection through employing a fixed receiving and transmitting distance; data continuous acquisition: performing data acquisition during heading of a previous tunnel, performing continuous data acquisition along with heading of a cutterhead, and continuously acquiring multi-source multi-wave-field data not lower than a set group number in a single test; refracted wave data are processed, and the continuous speed profile of the to-be-excavated area of the following tunnel is obtained according to the obtained speed distribution information; interpreting refracted wave data, and realizing geological interpretation of geophysical prospecting data according to the obtained continuous transverse velocity profile of the to-be-excavated area of the following tunnel in combination with geological information and structural distribution of the excavated hole body section of the preceding tunnel; and seismic multi-wave-field multi-view-field comprehensive detection is carried out to obtain the unfavorable geological distribution condition vertical to the line direction. According to the invention, multi-wave-field, multi-mode and multi-view comprehensive detection of the seismic wave method can be realized.

The invention relates to an aerosol moisture absorption and activation process observation system and an observation method thereof. The aerosol moisture absorption and activation process observation method comprises the following steps: collecting sample gases under different humidity conditions, and carrying out particle size screening on the sample gases to respectively obtain aerosols with different particle sizes; measuring scattering coefficients of the aerosols with different particle sizes under different humidity conditions; calculating scattering moisture absorption growth factors of the aerosols with different particle sizes according to the scattering coefficients, and performing inversion calculation on the scattering moisture absorption growth factors so as to obtain moisture absorption, water content, volume concentration and surface area concentration of the aerosols; according to the scattering coefficients corresponding to the aerosols with different particle sizes in the environment state, the dry state critical particle sizes of the aerosols with the dry state increased to 1 micrometer and 2.5 micrometers through water vapor condensation and the scattering moisture absorption growth factor of the aerosols with the environment state ranging from 1 micrometer to 2.5 micrometers are calculated in an inversion mode, and the effective supersaturation ratio of the cloud mist is obtained through inversion. And the aerosol moisture absorption and activation process observation system is arranged according to the aerosol moisture absorption and activation process observation method.

The invention discloses a design method and system of an earthquake geoelectric field observation device, and relates to the technical field of earthquake monitoring, firstly, through a scientific pole arrangement mode and calculation of natural potential difference, electric field changes before and after an earthquake can be effectively monitored and described, and accurate and reliable data support is provided. And secondly, the layout in eight directions shaped like the Chinese character'mi 'and a multi-electrode connection form are adopted, so that the flexibility and adaptability of the observation system are enhanced, and the requirements of different terrains and environments are met. And meanwhile, a measuring line orientation selection and electrode stability judgment mechanism is added in the design, so that the reliability and the precision of data are further improved. Besides, the system is convenient to maintain and upgrade, a good monitoring effect can be provided in practical application, and an effective technical guarantee is provided for seismic research and monitoring forecast.

The invention discloses a Brazilian splitting experiment device and method based on multiple heating modes, and belongs to the technical field of splitting experiments. Comprising a base, a Brazilian splitting clamp, a kettle body, a heating system, a heat transfer fluid injection hole, an axial pressure head, a temperature and pressure monitoring and heat transfer fluid outlet, a magnetic particle imaging system and a high-temperature early warning system, the temperature and pressure monitoring and heat-carrying fluid outlet is used for being connected with an external real-time observation system to conduct temperature and pressure monitoring and serves as an outlet of heat-carrying fluid at the same time. The magnetic particle imaging system is used for observing the distribution state of nano magnetic induction particles in the kettle body; the real-time high-temperature Brazilian splitting experiment can be carried out in multiple heating modes such as convection heating, conduction heating and supercritical fluid heating, the generation and expansion process of cracks in a sample can be monitored in real time, and the device is suitable for testing the strength and crack expansion of rocks under the thermal stress condition possibly encountered in actual engineering.

This information provision device provides a user of observation data obtained by synthetic aperture radar (SAR) with information regarding the tilt of a building. A detection unit (12) acquires measurement data of the amount of displacement of a building measured on the basis of observation data obtained by SAR, and detects the tilt of the building due to unequal settlement on the basis of the amount of displacement of the building. A display unit (13) displays, on map data, the location of the building for which the tilt has been detected.

The invention discloses a grid-connected inverter sliding mode control method based on a reduced-order generalized proportional-integral observer, and the method is applied to closed-loop control of a grid-connected inverter. The specific implementation method comprises the steps that a given power reference value is subjected to PQ control to obtain a current reference value, and the form of a reduced-order generalized proportional-integral observer is designed according to a state-space equation of the grid-connected inverter and used for observing the output current value and the total disturbance of the system. A backstepping method is combined with a super-spiral sliding mode to serve as a controller of a current loop, a control law output by the controller is subjected to an SPWM modulation method to obtain a trigger pulse signal of a switch tube, and closed-loop control of the grid-connected inverter is formed. According to the control method, the change of external disturbance can be more effectively resisted, the coupling influence between the d axis and the q axis is reduced, higher robustness and adaptivity to load disturbance are achieved, and stable operation of the grid-connected inverter is facilitated.

The invention relates to the technical field of rock / soil mass seepage-stress coupling, and discloses a rock-soil mass seepage-stress coupling visualization device and a test method thereof. The rock-soil body seepage-stress coupling visualization device integrates a seepage pressure system controlled by a high-precision plunger pump, a confining pressure and back pressure control system, a loading and measuring device and a visualization observation system composed of a PIV particle image measuring instrument and a three-dimensional XTDIC full-field strain measuring system, and an experiment platform with comprehensive and accurate functions is formed. The device not only can accurately control and measure the seepage pressure, but also can carry out permeability research on the rock / soil body in various stress states, and directly observes and records the seepage field and the structural evolution process in the rock / soil body through an intuitive visual means. The device not only improves the experiment efficiency, but also greatly enhances the intuition and accuracy of research, and provides powerful support for deeply understanding the microscopic and macroscopic behaviors of the rock / soil body under the seepage-stress coupling action.

The invention discloses a soft soil foundation riprap slope embankment rear heaped load cooperative construction monitoring system, which comprises a heaped load monitoring module used for monitoring the settlement amount and the deformation rate of a heaped load area by adopting a video method settlement displacement observation system; the foundation monitoring module is used for monitoring the hole pressure and displacement of the foundation according to the distributed measuring points; the data processing module is used for quantifying the data mapping relation between the settlement volume and the deformation rate of the loading area and the foundation pore pressure and displacement according to the time sequence, integrating the data according to the data fusion technology and calculating the real-time safety coefficient of the foundation; and the cooperative control execution module is used for triggering a dynamic control strategy according to the safety coefficient and dynamically adjusting the stacking rate and path. The invention further discloses a collaborative construction monitoring method for piling and loading behind the soft soil foundation riprap slope embankment. According to the method, the problem of stability control in pile loading construction behind the riprap embankment of the soft soil foundation is solved, and balance between safety and construction efficiency is achieved.

The invention discloses a sky tower ground well integrated carbon emission and carbon sink comprehensive observation system, which comprises a satellite remote sensing module and an unmanned aerial vehicle remote sensing module, which are used for acquiring mining area environmental parameters; the vorticity covariance flux tower is used for collecting wind speed, temperature, CO2 and other greenhouse gas concentration data in real time and calculating the carbon gas exchange flux in the atmosphere; the ground monitoring module is used for monitoring carbon emission and carbon absorption indexes in the surface environment in real time; the underground monitoring module is used for monitoring underground carbon flux data and underground environment parameters; the satellite remote sensing module, the unmanned aerial vehicle remote sensing module, the vortex covariance flux tower, the ground monitoring module and the underground monitoring module are all connected with the central data processing platform in a wired and / or wireless mode, and the central data processing platform is used for generating a unified and accurate mining area carbon emission and carbon sink dynamic map. According to the invention, synchronous observation and data fusion of five observation modules of the sky tower ground well are realized, and full-scale and real-time dynamic observation of carbon emission and carbon sink in a coal mining area is realized.

The invention provides a high-dynamic five-axis laser processing device based on double optical wedges, which can effectively improve the performance of five-axis laser processing equipment, and comprises a laser generator, a light field regulation and control module, a double-optical-wedge light beam offset module, a focusing and beam expanding module, a spectroscope, an observation system, a scanning module, a focusing module, a motion platform, a control system and operation software. The laser generator generates a laser beam, and the laser beam enters the double-optical-wedge light beam offset module after being regulated and controlled by the light field regulation and control module. The double-optical-wedge light beam deviation module deviates a laser beam from an optical axis, and the laser beam is parallel to the optical axis and enters the focusing and beam expanding module; the focusing and beam expanding module amplifies the off-axis amount of the laser beam and changes the divergence angle and diameter of the laser beam; then the laser beam enters the scanning module through the spectroscope; the laser beam is not parallel to the optical axis after passing through the scanning module, and finally the laser beam is transmitted to the machining surface on the motion platform after being focused through the focusing module.

The invention discloses a method and system for measuring the time delay of a satellite laser ranging system based on a space target, relates to the technical field of laser ranging, and aims to measure the time delay of the system by using a geostationary satellite with a stable orbit and a long distance as a space target. According to the method, the influence of error sources such as a ground observation system, a space transmission link and an observation target on the time delay of the laser ranging system is fully considered. By implementing the dynamic observation process, the problem that a static ground target can only obtain the system time delay under the pointing of a single telescope is solved, and the common obvious difference between an actual observation condition and an ideal setting condition is overcome, so that the accuracy of a laser ranging result is improved.

The invention provides a satellite weak and small target on-orbit observation system and method based on intelligent closed-loop feedback, and the system comprises a detection module which carries out the image enhancement and time sequence consistency enhancement of an infrared image, obtains an enhancement feature, and obtains a candidate target set based on the enhancement feature; the tracking module is used for carrying out target matching in the search area; when the matching succeeds, the candidate position is used as an observation value, and the observation value is input into a Kalman filter to obtain a target state vector; when the matching fails, taking a prediction state of the Kalman filter as a target state vector, expanding a search window by taking a prediction position as a center, and executing re-identification; the control module is used for mapping the target state vector into an attitude error and generating a control instruction by adopting a single-neuron self-adaptive PID (Proportion Integration Differentiation) controller; and the closed-loop scheduling module is used for dynamically adjusting operation parameters of at least one module according to the execution error and the detection confidence coefficient. According to the invention, the continuous tracking precision and attitude control stability of the weak and small target are improved.

The invention provides an observation system for bubble motion characteristics. The observation system comprises an experiment water tank; the gas power generation device is used for pumping gas under different power conditions into the experimental water tank to form bubbles, and the gas power generation device is provided with a gas incidence section extending below the liquid level in the experimental water tank; the observation device comprises a camera platform, a continuous laser and a light uniformizing plate, the camera platform comprises a plurality of side high-speed cameras arranged in an array mode and an upper high-speed camera located above a gas incidence section, and the gas incidence section should be located in an observation area of the camera platform; and the data acquisition and control unit is used for controlling the observation device and pre-processing and analyzing the obtained original data to obtain bubble motion characteristics under different experiment conditions, interaction between bubbles caused by bubble motion and influence of the bubble motion on the flow field. According to the invention, the whole process of bubble generation, development, maturation and formation of a boil-vortex structure on the water surface can be observed.

The invention relates to the technical field of environment detection, and discloses an extensible underground water and soil in-situ online observation system, which comprises an underground water and soil automatic online monitoring management platform, an underground water control module, a soil control module and an auxiliary module, the underground water and soil automatic on-line monitoring management platform can check the state of the detection module and the detected data. The problems that when an existing underground water and soil on-line monitoring device monitors underground water and soil through an on-line sensor, the sensor may have drifting or errors in a complex environment, and the data accuracy is affected are solved; in remote areas and complex terrains, data transmission interruption can be caused by network instability; the problems that underground water and soil equipment are managed separately, data output is not synchronous, the data analysis difficulty is increased, and complex data analysis and modeling are difficult to achieve are solved.

The invention discloses a multi-sampling-rate observation system optimization method based on improved simulated annealing, and the method comprises the following steps: firstly, determining the total number N of shot points and detection points according to a multi-sampling-rate sampling observation system needing to be designed, and calculating mu; generating a new multi-sampling matrix according to the coordinates of the disturbance shot point or the detection point, and calculating a new mu; if the new value mu is smaller than the mu calculated by the previous iteration, assigning the new mu to the old mu; otherwise, judging whether a new solution is accepted probably; and comparing the mu with the minimum output with the mu in the whole process, taking the minimum value as the optimal value of the whole calculation process, and taking the observation system corresponding to the minimum value as the optimal multi-sampling-rate observation system at the moment. According to the method, a simulated annealing algorithm is introduced for the problems of calculation efficiency and precision, and the efficiency and precision of optimization calculation are improved by improving an annealing function and a probability function, so that a high-quality multi-sampling-rate observation system is obtained, and technical support is provided for design of observation systems in complex regions.

The invention discloses an underground space unmanned sensing detection system and method. An unmanned detection carrier platform obtains underground space surface data through a sensing radar holder and an unmanned aerial vehicle; then determining a detection target area according to the acquired data and planning a driving path; meanwhile, ad-hoc network relay nodes are placed at different positions on the unmanned detection carrier platform through a mechanical arm in combination with signal strength, an ad-hoc network is finally formed, and normal communication of the unmanned detection carrier platform and the unmanned aerial vehicle in the underground space is guaranteed; when the unmanned detection carrier platform travels to a target area, a seismic observation system is formed by arranging node type detectors, and an active seismic source and a transient electromagnetic detection device are respectively started, so that seismic wave data and transient electromagnetic data of the target area are obtained; according to the method, perception modeling of the underground space can be realized in an unmanned mode, and the overall detection data of the underground space can be accurately acquired, so that subsequent analysis and processing of the underground space data are facilitated.

A medical image processing apparatus includes a control unit configured to cause, based on a detection result of at least one trocar into which a medical instrument is inserted, the at least one trocar being configured to detect a first state and a second state, the first state and the second state indicating an insertion state of the medical instrument into a subject, a display device to display at least one of a first image generated by capturing an image of an observation object inside the subject and a second image of the observation object inside the subject, the second image being previously acquired.