CN110187401B - Double-shield TBM tunnel face rock mass three-dimensional image imaging device - Google Patents
Double-shield TBM tunnel face rock mass three-dimensional image imaging device Download PDFInfo
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- CN110187401B CN110187401B CN201910535900.9A CN201910535900A CN110187401B CN 110187401 B CN110187401 B CN 110187401B CN 201910535900 A CN201910535900 A CN 201910535900A CN 110187401 B CN110187401 B CN 110187401B
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- 239000011435 rock Substances 0.000 title claims abstract description 41
- 238000003384 imaging method Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 14
- 230000005641 tunneling Effects 0.000 claims abstract description 13
- 239000003086 colorant Substances 0.000 claims description 9
- 239000000428 dust Substances 0.000 claims description 7
- 239000006260 foam Substances 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 238000005507 spraying Methods 0.000 claims description 6
- 238000001816 cooling Methods 0.000 claims description 5
- 238000007493 shaping process Methods 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 238000009412 basement excavation Methods 0.000 claims description 3
- 238000010191 image analysis Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 239000003973 paint Substances 0.000 claims 4
- 230000009977 dual effect Effects 0.000 claims 1
- 238000004458 analytical method Methods 0.000 abstract description 3
- 238000011161 development Methods 0.000 abstract description 2
- 239000003673 groundwater Substances 0.000 abstract 1
- 238000005259 measurement Methods 0.000 abstract 1
- 208000022971 Tuberculous meningitis Diseases 0.000 description 14
- 208000001223 meningeal tuberculosis Diseases 0.000 description 14
- 238000010276 construction Methods 0.000 description 6
- 239000000049 pigment Substances 0.000 description 6
- 239000007921 spray Substances 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 239000011148 porous material Substances 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/02—Prospecting
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The application discloses a rock mass three-dimensional imaging device of a tunnel face of a double-shield TBM tunnel, which belongs to the technical field of geological cataloging. The device obtains a series of pictures covering the whole face rock mass by rotating the cutter head in a non-tunneling period, synthesizes a face panoramic three-dimensional image model under an engineering coordinate system by utilizing image splicing processing software and combining target position information, is safe, convenient and quick in an imaging process, and can provide basic achievements and analysis basis for the identification of later-stage rock mass lithology characteristics, joint structures and groundwater development characteristics and the measurement of corresponding information such as occurrence, length, area and the like.
Description
Technical Field
The application relates to the technical field of geological cataloging, in particular to a double-shield TBM tunnel face rock mass three-dimensional image imaging device and an imaging method.
Background
At present, the application of the double-shield TBM tunnel construction technology in actual engineering is more and more extensive. However, the blocking of the cutterhead and the shield body in the construction process of the double-shield TBM is difficult to comprehensively observe the rock mass of the face, and great trouble is brought to geological logging work in the construction period. If the panoramic image data of the face can be obtained, the geological engineer can be helped to comprehensively and intuitively know the geological condition of the face, and geological record results are further formed through later geological analysis and interpretation work.
Today, there are two approaches to the way in which tunnel face photography is constructed for double shield TBMs.
The first method is to take a photograph through the pores of each part of the cutterhead, and the method has the defects that the rock mass which can be seen through the pores of the cutterhead is very limited, the observable rock mass area is only about one percent of the total area of the excavated face, and the pore positions are relatively dispersed. Thus, geological conditions of the face cannot be accurately known based on sporadic and scattered rock mass information, such as long cracks may only be able to see their local or missing short cracks.
The second method is that staff enters the space between the cutterhead and the face from the population on the cutterhead to take pictures, and the method has the defects that the gap between the cutterhead and the face is very narrow, the shooting angle is limited when the rock mass of the face is shot, the front panoramic image is difficult to obtain, and the staff work and escape are very inconvenient. Moreover, as the rock mass in front of the face is in an unsupported state, there is a great potential safety hazard. Meanwhile, the working environment is very bad due to the influence of heat dissipation of the cutterhead and construction dust.
Disclosure of Invention
In order to overcome the defects of the existing double-shield TBM construction tunnel face photographing mode, the technical problems to be solved by the application are as follows: the double-shield TBM tunnel face rock mass three-dimensional imaging device and the imaging method are safe in operation and capable of clearly and completely displaying the face panoramic three-dimensional image model.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a three-dimensional image imaging device of double shield TBM tunnel face rock mass, includes target system, photographic system and the control system of installing on the blade disc, target system is including the sprayer that can spray the target to the blade disc the place ahead, photographic system includes a plurality of camera towards the camera in blade disc the place ahead, and a plurality of cameras cover tunnel face completely after the picture concatenation of shooting along with the blade disc rotation, control system is used for controlling sprayer injection target and the shooting action of camera.
Further, the sprayer of the target system is a pigment sprayer or a laser emitter, the pigment sprayer can spray waterproof pigments with different colors, and the laser emitter can emit light with different colors.
Further, the ejector and the cameras are arranged on the same radial direction of the cutterhead, and the cameras are uniformly arranged at intervals on the radius or the diameter length of the cutterhead.
Furthermore, the cutter head is provided with an equipment placing cabin parallel to the axis of the cutter head, the ejector and the camera are arranged in the equipment placing cabin, the control system is positioned at the rear of the cutter head, and the control system is in telecommunication connection with the ejector and the camera.
Furthermore, the ejector and the camera are both fixed in the equipment placing cabin through the shaping foam cushion layer, a cabin door is arranged at the front opening of the equipment placing cabin, and the opening and closing of the cabin door are also controlled by the control system.
Further, a camera cabin and a sliding rail are further arranged in the equipment placing cabin for placing the camera, the shaping foam cushion layer is filled between the camera and the camera cabin, the camera cabin can slide along the sliding rail, a push rod is arranged at the rear end of the camera cabin, the push rod can be fixed in the equipment placing cabin through bolts, and a dustproof plug is arranged at the tail outlet of the equipment placing cabin.
Further, the control system comprises an equipment protection box, a storage, a charging power supply and a control switch are arranged in the equipment protection box, the storage is used for storing pictures shot by the camera and is provided with a data export port, the charging power supply supplies power for the camera and the ejector through a power line, and the control switch controls the camera, the ejector and the cabin door to work through telecommunication.
The method for imaging by using the double-shield TBM tunnel face rock mass three-dimensional imaging device comprises the following steps:
a. according to the excavation diameter of a concrete cutterhead of the double-shield TBM, the condition that cameras can fully cover and photograph rock mass of a face according to a certain overlapping rate is guaranteed, proper cameras are selected, and the number of cameras, arrangement intervals and photographing number are determined;
b. when the cutter head is designed and manufactured by combining the cutter head structure, an equipment placing cabin is manufactured based on the principle that the whole structure and the strength of the cutter head are not damaged, a circuit box and an equipment protection box are arranged behind the cutter head, and all the equipment are installed and connected;
c. in the tunneling process, at any moment when a rock mass of the tunnel face needs to be photographed, firstly, tunneling is stopped, a cutter disc is retracted, and then water spraying, cooling and dust removing are carried out on the tunnel face for a plurality of times by using equipment of a tunneling machine;
d. after the cooling and dedusting work in front of the cutterhead is finished, calculating photographing interval angles according to the determined photographing quantity, photographing when the cutterhead rotates by corresponding interval angles after the starting point position is determined, until the cutterhead rotates for one circle, and simultaneously, respectively spraying marks with different colors when the target injector rotates to the upper, lower, left and right positions;
e. and after photographing, the photo data are exported by using computer equipment, and image analysis processing is carried out by combining the cutter head position information to form a three-dimensional image of the rock mass of the face.
Further, when selecting a camera, selecting a fixed-focus camera with a low focal length, and estimating a shooting area of each camera according to a= (l° S)/f, thereby determining the number of cameras, the arrangement interval and the shooting number, wherein: a-shooting area, distance between the lens of the L-camera and rock mass of the face, side length of the light sensitive sheet of the S-camera and focal length of the f-camera.
Further, when the number of cameras, the arrangement interval, the photographing number and the photographing interval angle are determined, calculation is performed according to the overlapping rate of photos photographed by the adjacent cameras and the overlapping rate of photos photographed by the same camera at two adjacent photographing positions which are not less than 30%.
The beneficial effects of the application are as follows: the device is provided with camera devices and the like in advance on the basis of not damaging the whole structure and strength of the cutterhead, the cutterhead is rotated in a non-tunneling period to take pictures, a series of pictures with a certain overlapping rate and covering the whole face rock mass are obtained, a reference image control point is arranged through a positioning target device, an image stitching processing software is utilized and combined with target position information to synthesize a face panoramic three-dimensional image model under an engineering coordinate system, the imaging process is safe, convenient and fast, and basic results and analysis basis can be provided for identifying the lithology characteristics, joint structures and underground water development characteristics of later-stage rock mass and measuring corresponding information such as shape, length and area.
Drawings
Fig. 1 is a schematic diagram of the structure of the present application.
Fig. 2 is a schematic view of a camera module according to the present application.
Fig. 3 is a front view of a camera module of the present application.
Fig. 4 is a schematic diagram of the control system of the present application.
The drawing is marked as a 1-cutter head, a 2-sprayer, a 3-camera, a 4-shaping foam cushion, a 5-equipment protection box, a 6-storage, a 7-charging power supply, an 8-control switch, a 9-computer equipment, an 11-equipment placing cabin, a 12-cabin door, a 13-dustproof plug, a 31-phase cabin, a 32-sliding rail, a 33-push rod, a 34-bolt, a 35-photographing switch automatic trigger and a 61-data export port.
Detailed Description
The application is further described below with reference to the accompanying drawings.
As shown in fig. 1, the dual-shield TBM tunnel face rock mass three-dimensional imaging device of the application comprises a target system, a photographing system and a control system, wherein the target system is arranged on a cutter head, the target system comprises an ejector 2 capable of ejecting targets to the front of the cutter head 1, the photographing system comprises a plurality of cameras 3 with lenses facing the front of the cutter head 1, the plurality of cameras 3 are spliced along with pictures photographed by rotation of the cutter head 1 to completely cover the tunnel face, and the control system is used for controlling the ejector 2 to eject targets and photographing actions of the cameras 3.
The target system is used for setting targets on the surface of the rock mass and providing azimuth reference and image control point coordinate information when image processing is carried out for later three-dimensional image production. It is generally necessary to set different targets in the up, down, left and right directions to distinguish, so the sprayer 2 of the target system may employ a pigment sprayer or a laser emitter, the pigment sprayer may spray waterproof pigments of different colors, and the laser emitter may emit light of different colors, thereby playing a role in providing targets. The control system may be powered to control operation of the injector.
The photographing system mainly has the function of photographing the rock mass of the face. Because the distance of the retreating cutterhead cannot be too far and is limited by the focal length in the TBM tunnel construction process, a single camera 3 cannot shoot the whole face rock mass clearly, and therefore, the whole face rock mass can be obtained only by processing the shot images after shooting for many times by adopting a plurality of cameras 3. The control system can be realized by means of the automatic trigger 35 of the photographing switch when controlling the photographing of the camera 3.
In order to achieve a better shooting effect and facilitate subsequent image processing, the reasonable arrangement of the positions of the ejector 2 and each camera 3 is a critical step, and the application adopts the following steps: the injector 2 and the cameras 3 are arranged on the same radial direction of the cutterhead 1, and a plurality of cameras 3 are uniformly arranged at intervals on the radius or the diameter length of the cutterhead 1. The injector 2 may be arranged at any position in the radial direction, but is preferably arranged at the outermost end of the cutterhead 1, which is more advantageous for positioning. If cameras are uniformly distributed on the radius length, the cutter head 1 can complete full coverage shooting only by rotating 360 degrees; if the cameras 3 are arranged on the diameter length, the number of the cameras is doubled, but the cutter head 1 can complete shooting by rotating 180 degrees, and the cameras are preferably arranged on the radius length by comprehensively considering the factors such as cost.
When the ejector 2 and the camera 3 are specifically installed, the cutter head 1 is firstly provided with the equipment placement cabin 11 parallel to the axis of the cutter head, or the original gap on the cutter head 1 is used, then the ejector 2 and the camera 3 are arranged in the equipment placement cabin 11, a control system can be arranged at the rear of the cutter head 1, and the control system is connected with the ejector 2 and the camera 3 through telecommunication, so that the ejector and the camera are wired and wireless.
Because TBM is in the tunneling process, cutter head 1 position vibration is great, and the dust is more, in order to guarantee the stability of equipment setting, sprayer 2 and camera 3 are all fixed in equipment setting cabin 11 through design foam bed course 4 to be equipped with hatch door 12 in the front opening part of equipment setting cabin 11, the switching of hatch door 12 also is controlled by control system. In the normal tunneling process, the cabin door 12 is closed, the cabin 12 door is opened again when photographing is needed, and the cabin door 12 is automatically closed again after photographing is finished, so that equipment in the equipment placing cabin 11 is protected.
The fixation of the injector 2 and the camera 3 by means of the shaped foam cushion 4 alone may not be stable enough, especially the position of the camera 3, if loose displacement occurs, which may lead to non-uniform focal lengths and problems with subsequent photo processing. As shown in fig. 2 and 3, a camera cabin 31 and a sliding rail 32 are further arranged in the equipment placing cabin 11 for placing the camera 3, the shaping foam cushion 4 is filled between the camera 3 and the camera cabin 31, the camera cabin 31 can slide along the sliding rail 32, a push rod 33 is arranged at the rear end of the camera cabin 31, the push rod 33 can be fixed in the equipment placing cabin 11 through a bolt 34, and a dust-proof plug 13 is arranged at the tail outlet of the equipment placing cabin 11. The specific installation process is as follows: firstly, the equipment placing cabin 11 is arranged to penetrate through the through hole of the cutterhead 1, then the sliding rail 32 is arranged in the equipment placing cabin 11, the corresponding structure is arranged outside the camera cabin 31 so that the camera cabin 31 can stably slide along the sliding rail 32, because the cutterhead 1 is thicker, the camera cabin 31 needs to be moved by the aid of the push rod 33, finally, the camera 3 is fixed in the camera cabin 31, the camera cabin 31 is pushed into the equipment placing cabin 11 from the rear end of the cutterhead 1, after the camera cabin reaches a preset position, the push rod 33 is fixed on the equipment placing cabin 11 through the bolt 34, and then the fixation of the camera 1 can be completed. The dust plug 13 is provided mainly to prevent dust from entering the rear of the cutterhead 1 from the gap between the camera compartment 31 and the slide rail 32.
The control system is also a key component, and comprises a device protection box 5, as shown in fig. 4, a storage 6, a charging power supply 7 and a control switch 8 are arranged in the device protection box 5, the storage 6 is used for storing pictures taken by the camera 3 and is provided with a data export port 61, the charging power supply 7 supplies power to the camera 3 and the ejector 2 through a power line, and the control switch 8 controls the camera 3, the ejector 2 and the cabin door 12 to work through telecommunication.
The imaging method by using the device mainly comprises the following steps:
a. according to the excavation diameter of a concrete cutterhead of the double-shield TBM, the camera 3 is ensured to take pictures of the rock mass of the face in a full coverage mode according to a certain overlapping rate, proper cameras are selected, and the number of cameras, the arrangement interval and the number of pictures are determined;
b. when the cutter head is designed and manufactured by combining the cutter head structure, the equipment placing cabin 11 is manufactured based on the principle that the whole structure and the strength of the cutter head 1 are not damaged, the circuit box and the equipment protecting box 5 are arranged at the rear of the cutter head 1, and all the equipment are installed and connected;
c. in the tunneling process, at any moment when a rock mass of a tunnel face needs to be photographed, firstly, stopping tunneling, backing a cutter disc 1, wherein the backing distance is generally not less than 1m, and then using equipment of a tunneling machine to spray water, cool and remove dust for a plurality of times;
d. after the cooling and dedusting work in front of the cutterhead 1 is finished, calculating photographing interval angles according to the determined photographing quantity, photographing when the cutterhead 1 rotates by corresponding interval angles after the starting point position is determined, until the cutterhead 1 rotates for one circle, and simultaneously, respectively spraying marks with different colors when the sprayer 2 rotates to the upper, lower, left and right positions;
e. after photographing, the photo data are exported by the computer equipment 9, and image analysis processing is carried out by combining the cutter head position information to form a three-dimensional image of the rock mass of the face.
When selecting the camera 3, selecting fixed-focus cameras with low focal length, and estimating the shooting area of each camera according to A= (L multiplied by S)/f, thereby determining the number of cameras, the arrangement interval and the shooting number, wherein: a-shooting area, distance between the lens of the L-camera and rock mass of the face, side length of the light sensitive sheet of the S-camera and focal length of the f-camera.
Further, when the number of cameras 3, the arrangement interval, the photographing number and the photographing interval angle are determined, calculation is performed according to the overlapping rate of photos photographed by the adjacent cameras and the overlapping rate of photos photographed by the same camera at two adjacent photographing positions which are not less than 30%.
The device is used for three-dimensional imaging of the rock mass of the tunnel face, and has the following advantages: the equipment can acquire the whole image of the rock mass of the face, meanwhile, the resolution is high, the details can be analyzed, and the acquired information is comprehensive, rich and complete; the device is convenient, the camera device with the camera is pre-installed by the cutter head for shooting, and the device is quick and convenient; all the work is performed behind the cutterhead, and the work does not need to enter the front of the cutterhead or the inside of the cutterhead, so that the safety is high.
Claims (5)
1. Double-shield TBM tunnel face rock mass three-dimensional image device, characterized by: the system comprises a target system, a photographing system and a control system, wherein the target system is arranged on a cutterhead (1), the target system comprises an ejector (2) capable of ejecting targets to the front of the cutterhead (1), the photographing system comprises a plurality of cameras (3) with lenses towards the front of the cutterhead (1), the plurality of cameras (3) are spliced along with pictures shot by rotation of the cutterhead (1) to completely cover tunnel face, and the control system is used for controlling the ejector (2) to eject targets and shooting actions of the cameras (3); the utility model discloses a device for spraying water-proof paint, which is characterized in that an ejector (2) of a target system is a paint ejector or a laser emitter, the paint ejector can eject waterproof paint with different colors, the laser emitter can emit light with different colors, the ejector (2) and a camera (3) are all arranged in the same radial direction of a cutter disc (1), a plurality of cameras (3) are uniformly arranged at intervals on the radius or the diameter length of the cutter disc (1), a device placing cabin (11) parallel to the axis of the cutter disc is arranged on the cutter disc (1), the ejector (2) and the camera (3) are all arranged in the device placing cabin (11), a control system is positioned behind the cutter disc (1), the control system is in telecommunication connection with the ejector (2) and the camera (3), the ejector (2) and the camera (3) are all fixed in the device placing cabin (11) through a shaping foam cushion layer (4), a cabin door (12) is arranged at a front opening of the device placing cabin (11), the opening and closing of the cabin door (12) is also controlled by a control system, a device placing cabin (3) is provided with a camera cabin (31) and a sliding rail (32) between the camera cushion (31) and the camera cushion layer (31), the push rod (33) can be fixed in the equipment placing cabin (11) through a bolt (34), and a dustproof plug (13) is arranged at the tail outlet of the equipment placing cabin (11).
2. The dual shield TBM tunnel face rock mass three-dimensional imaging apparatus of claim 1, wherein: the control system comprises an equipment protection box (5), a storage device (6), a charging power supply (7) and a control switch (8) are arranged in the equipment protection box (5), the storage device (6) is used for storing pictures shot by the camera (3) and is provided with a data export port (61), the charging power supply (7) supplies power for the camera (3) and the ejector (2) through a power line, and the control switch (8) controls the camera (3), the ejector (2) and the cabin door (12) to work through telecommunication.
3. The imaging method of the double-shield TBM tunnel face rock mass three-dimensional imaging device as claimed in claim 2, comprising the following steps:
a. according to the excavation diameter of a concrete cutterhead of the double-shield TBM, a proper camera is selected and the number, arrangement interval and photographing number of the cameras are determined according to the basis that the cameras (3) can conduct full coverage photographing on the rock mass of the face according to a certain overlapping rate;
b. when the cutter head structure is combined with the design and the manufacture of the cutter head (1), an equipment placing cabin (11) is manufactured based on the principle that the integral structure and the strength of the cutter head (1) are not damaged, a circuit box and an equipment protection box (5) are arranged behind the cutter head (1), and all the equipment are installed and connected;
c. in the tunneling process, at any moment when a rock mass of the tunnel face needs to be photographed, firstly, tunneling is stopped, a cutter disc (1) is retracted, and then water spraying, cooling and dust removing are carried out on the tunnel face for multiple times by using equipment of a tunneling machine;
d. after the cooling and dedusting operation in front of the cutterhead is finished, calculating photographing interval angles according to the determined photographing quantity, photographing when the cutterhead (1) rotates by corresponding interval angles after the starting point position is determined, until the cutterhead (1) rotates for one circle, and simultaneously, respectively spraying marks with different colors when the sprayer (2) rotates to the upper, lower, left and right positions;
e. after photographing, the photo data are exported by using a computer device (9), and image analysis processing is carried out by combining the position information of the cutterhead (1) to form a three-dimensional image of the rock mass of the face.
4. The imaging method of the dual-shield TBM tunnel face rock mass three-dimensional imaging device according to claim 3, wherein the imaging method comprises the following steps: when selecting the cameras (3), selecting fixed-focus cameras with low focal length, and estimating the shooting area of each camera according to A= (L multiplied by S)/f, thereby determining the number of cameras, the arrangement interval and the shooting number, wherein: a-shooting area, distance between the lens of the L-camera and rock mass of the face, side length of the light sensitive sheet of the S-camera and focal length of the f-camera.
5. The imaging method of the double-shield TBM tunnel face rock mass three-dimensional imaging device according to claim 4, wherein the imaging method comprises the following steps: and when the number, the arrangement interval, the photographing number and the photographing interval angle of the cameras (3) are determined, calculating according to the overlapping rate of the photos photographed by the adjacent cameras and the overlapping rate of the photos photographed by the same camera at two adjacent photographing positions not smaller than 30%.
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| CN201910535900.9A CN110187401B (en) | 2019-06-20 | 2019-06-20 | Double-shield TBM tunnel face rock mass three-dimensional image imaging device |
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| CN201910535900.9A CN110187401B (en) | 2019-06-20 | 2019-06-20 | Double-shield TBM tunnel face rock mass three-dimensional image imaging device |
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| CN110187401A CN110187401A (en) | 2019-08-30 |
| CN110187401B true CN110187401B (en) | 2023-12-01 |
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| DE102020133386A1 (en) * | 2020-12-14 | 2022-06-15 | Herrenknecht Aktiengesellschaft | Apparatus and method for driving a tunnel |
| CN113269865B (en) * | 2021-04-07 | 2023-10-03 | 西南交通大学 | Intelligent recognition method for underground water outlet characteristics of tunnel face and underground water state classification method |
| CN115375859B (en) * | 2022-08-01 | 2024-07-02 | 长江三峡勘测研究院有限公司（武汉） | TBM tunnel surrounding rock three-dimensional image acquisition method and device |
| DE202022106442U1 (en) * | 2022-11-17 | 2024-02-20 | Herrenknecht Aktiengesellschaft | Tunnel boring machine |
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