US 12,071,185 B2
System and method for identifying adverse geological body in tunnel based on hyperspectral technology analysis
Zhenhao Xu, Jinan (CN); Peng Lin, Jinan (CN); Tengfei Yu, Jinan (CN); Huihui Xie, Jinan (CN); Ruiqi Shao, Jinan (CN); Dongdong Pan, Jinan (CN); Fumin Liu, Jinan (CN); and Gang Liu, Jinan (CN)
Assigned to SHANDONG UNIVERSITY, Jinan (CN)
Appl. No. 17/618,745
Filed by SHANDONG UNIVERSITY, Shandong (CN)
PCT Filed Dec. 30, 2020, PCT No. PCT/CN2020/141568
§ 371(c)(1), (2) Date Dec. 13, 2021,
PCT Pub. No. WO2021/147639, PCT Pub. Date Jul. 29, 2021.
Claims priority of application No. 202010070787.4 (CN), filed on Jan. 21, 2020.
Prior Publication US 2022/0355876 A1, Nov. 10, 2022
Int. Cl. G01N 21/31 (2006.01); B62D 57/024 (2006.01); B62D 57/04 (2006.01); E21D 9/00 (2006.01); G01N 33/24 (2006.01)
CPC B62D 57/024 (2013.01) [B62D 57/04 (2013.01); E21D 9/003 (2013.01); G01N 21/31 (2013.01); G01N 33/24 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A system for identifying an adverse geological body in a tunnel based on hyperspectral technology analysis, comprising a wall-climbing robot, a controller, and a signal processor, wherein:
the wall-climbing robot comprises a robot body, a middle part of the robot body is equipped with a spiral thrust system, spiral thrust devices are respectively arranged on sides and a top of the spiral thrust system, and each spiral blade of the spiral thrust devices on sides of the spiral thrust system can work independently, wherein reverse thrusts of lateral spiral thrust devices balance gravity of the wall-climbing robot, and can ensure that the robot advances along a curve, and a reverse thrust of spiral blades on the top of the spiral thrust system enables the wall-climbing robot to fit an inner wall of the tunnel;
a bottom of the robot body is provided with a plurality of groups of hyperspectral light sources and receivers, and the hyperspectral light sources and the receivers are arranged at intervals;
a holder is arranged at an upper part of the robot body, a camera is arranged on the holder; and
a plurality of supporting force telescopic rods are arranged at a lower end of the robot body;
the controller is configured to control an operation of the wall-climbing robot to ensure that the wall-climbing robot moves on a tunnel face according to a set spiral path, wherein, when the wall-climbing robot moves on the tunnel face, a route of the wall-climbing robot is spiral, and the wall-climbing robot moves toward a center of the tunnel face spirally cycle by cycle along an edge of the tunnel face; and
the signal processor is configured to communicate with the receivers to receive the acquired spectrum data, draw a mineral distribution map of the tunnel face with the path traveled by the wall-climbing robot as a plane, and identify an adverse geological body by identifying categories and distribution characteristics of representative minerals.