Abstract: Sound signal when a wave generated by a geo-acoustic event source reaches any monitoring point (S1), constructing a theoretical propagation difference model and an observed propagation difference model of the waveform characterization quantity between monitoring points, to calculate a waveform characterization quantity difference value between two monitoring points (S2); and constructing an objective function based on the theoretical propagation difference model and the observed propagation difference model, and obtaining the location of the geo-acoustic event by means of inversion based on the objective function (S3).

Abstract: 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.

Abstract: A method and system for identifying a cavity position of a structure based on global search includes: step 1: 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 2: 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 3: 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.