Central South University

Longjun Dong

Jian Wang

Yihan Zhang

Zheng Tang

Zhongwei Pei

Yongchao Chen

Jiachuang Wang

Qingchun Hu

A rock-piercing flexible rock drilling robot and a rock breaking method therefor are disclosed. The robot includes a control system, a head, and at least one tail. The head includes a head housing, a propulsion turntable, a drilling mechanism, a hydraulic propulsion system, a first driving mechanism, and a second driving mechanism. The propulsion turntable includes a drill bit located at a center thereof and a cutting turntable arranged around the drill bit. The first driving mechanism is connected to the drill bit, and the second driving mechanism is connected to the cutting turntable. The tail includes a tail housing, an advancing and retreating power system, and a fixed support system. The head and the tail are connected through a flexible component, and the tails are connected through flexible components.

Rock-piercing flexible rock drilling robot and rock breaking method

A method and system for identifying a cavity position of a structure based on global search includes: step: using a structure requiring cavity position identification as a target area, arranging acoustic emission sensors at key positions of the target area, and acquiring actual travel time of signals between the acoustic emission sensors on site; step: constructing cavity models for the target area; and for each cavity model, tracking shortest paths of signal propagation between the acoustic emission sensors when each cavity model exists in the target area, to obtain theoretical travel time of the signals; and step: respectively calculating deviations between the theoretical travel time and the actual travel time of the signals between the acoustic emission sensors corresponding to each cavity model, and using a position of a cavity model corresponding to a minimum deviation as an identified cavity position in the target area.

Method and system for identifying cavity position of structure based on global search

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Changsha, China

Longjun Dong