CN115263410A - Shield tunnel material transportation method and transportation system thereof - Google Patents
Shield tunnel material transportation method and transportation system thereof Download PDFInfo
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- CN115263410A CN115263410A CN202210932133.7A CN202210932133A CN115263410A CN 115263410 A CN115263410 A CN 115263410A CN 202210932133 A CN202210932133 A CN 202210932133A CN 115263410 A CN115263410 A CN 115263410A
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- E—FIXED CONSTRUCTIONS
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
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Abstract
The invention relates to a method and a system for transporting shield tunnel materials, wherein the method for transporting shield tunnel materials transports loaded materials to a designated position in a tunnel through transporting equipment, and comprises the following steps: the transportation equipment drives from the tunnel entrance to a specified position in the tunnel by adopting a first variable speed driving mode; stopping running of the transportation equipment at the designated position, and unloading the materials; after the unloading of the materials is finished, the transportation equipment drives to the tunnel mouth from the specified position in the tunnel by adopting a second variable speed driving mode; the transportation equipment repeats the material transportation process or charges the transportation equipment. The invention solves the technical problems of poor automation and intelligent degree of shield tunnel material transportation and limited applicability.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a shield tunnel material transportation method and a transportation system thereof.
Background
The shield construction method is widely applied to urban construction, transportation and other aspects, has the advantages of high tunneling efficiency, small influence on the surrounding environment and the like, but the intelligent and automatic degree in the construction process is still in the exploration stage, and most construction links need manual operation. Materials such as assembling duct pieces, slurry, trailer tracks and pipelines which need to provide supporting force during shield construction are transported by a trolley driven by workers, the efficiency of tunneling construction is limited to a certain extent, the construction cost is increased, long-time construction tunneling is easy, and accidents are easy to happen due to fatigue of the workers. Especially, when the method is applied to a miniature shield, due to the limitation of the space in the tunnel, the manual participation operation can have greater difficulty, and the construction efficiency is difficult to ensure.
In recent years, with the development of technologies, some methods and systems for automatically transporting materials appear, but the automation and intelligence degrees are still not good enough, and the requirement for effectively improving the construction efficiency of the shield (especially the narrow working environment under the micro shield) cannot be met.
Aiming at the problems of poor automation and intelligent degree and limited applicability of shield tunnel material transportation in the related technology, an effective solution is not provided at present.
Therefore, the inventor provides a shield tunnel material transportation method and a transportation system thereof by virtue of experience and practice of related industries for many years, so as to overcome the defects of the prior art.
Disclosure of Invention
The invention aims to provide a shield tunnel material transportation method and a transportation system thereof, which can realize the actions of automatic start-stop, driving, obstacle avoidance, charging and the like of material transportation equipment, improve the intellectualization and automation of the material transportation process, have higher applicability and can be particularly applied to the environment of a miniature shield tunnel.
The invention also aims to provide a shield tunnel material transportation method and a transportation system thereof, which reduce the manual participation in the material transportation link, save the labor cost, greatly improve the construction safety and the construction efficiency, shorten the interval between the material transportation and the tunnel tunneling and improve the intelligent degree of the tunneling construction.
The purpose of the invention can be realized by adopting the following scheme:
the invention provides a shield tunnel material transportation method, which transports loaded materials to a specified position in a tunnel through transportation equipment, and comprises the following steps:
the transportation equipment runs to a specified position in the tunnel from the tunnel entrance by adopting a first variable speed running mode;
the transportation equipment stops running at the designated position and unloads the materials;
after the material is unloaded, the transportation equipment drives to the tunnel portal from the specified position in the tunnel by adopting a second variable speed driving mode;
and the transportation equipment repeats the material transportation process or charges the transportation equipment.
In a preferred embodiment of the present invention, the first variable speed drive mode includes:
the transportation equipment drives from the tunnel entrance to the tunnel by adopting a first driving mode;
after entering a first preset distance in the tunnel, the transportation device is changed from the first driving mode to a second driving mode, and the speed of the second driving mode is higher than that of the first driving mode;
after detecting that the distance between the transportation device and the designated position is a second preset distance, the transportation device is changed from the second running mode to a third running mode, and the speed of the second running mode is greater than that of the third running mode.
In a preferred embodiment of the present invention, the second shift mode includes:
the transportation equipment drives from the designated position to the tunnel portal in a fourth driving mode;
after detecting that the distance between the transportation device and the designated position is a third preset distance, the transportation device is changed from the fourth traveling mode to a fifth traveling mode, and the speed of the fifth traveling mode is greater than that of the fourth traveling mode;
and after detecting that a fourth preset distance exists between the transportation equipment and the tunnel portal, the transportation equipment is changed from the fifth running mode to a sixth running mode, and the speed of the sixth running mode is greater than that of the fifth running mode.
In a preferred embodiment of the present invention, three-dimensional point cloud information in the tunnel is collected in real time, boundary data points are screened from the three-dimensional point cloud information for fitting, and the fitted shape is compared with a preset matching template to identify the position of the tunnel portal and the designated position.
In a preferred embodiment of the present invention, according to coordinate information included in the three-dimensional point cloud information, a distance between the transportation device and a central point of the tunnel portal or a central point of an area where the designated location is located is obtained, so as to determine the distance between the transportation device and the tunnel portal or the designated location.
In a preferred embodiment of the present invention, the designated location includes a location of a tail of a trailer connected to the heading machine.
In a preferred embodiment of the present invention, when the transportation device detects that an obstacle exists on the travel route of the transportation device during the travel process, the transportation device stops traveling to avoid the obstacle.
In a preferred embodiment of the present invention, the three-dimensional point cloud information in the tunnel is collected in real time and compared with a preset matching template to identify the obstacle on the driving route.
In a preferred embodiment of the invention, the transportation device transmits a ranging signal and receives a return signal to identify obstacles on the travel route.
In a preferred embodiment of the present invention, the obstacle avoidance by the transportation device includes:
the transportation equipment sends out an alarm signal and reduces the running speed after detecting that an obstacle exists on a running route of the transportation equipment in the running process;
if the distance between the obstacle and the transportation equipment is detected to be smaller than or equal to a preset safety distance, stopping running of the transportation equipment;
if the obstacle disappears, stopping sending an alarm signal by the transportation equipment, and recovering the driving state;
and if the obstacle is still positioned on the driving route of the transportation equipment after the preset waiting time, the transportation equipment waits for a control instruction.
In a preferred embodiment of the present invention, a driving route of the transportation device in the tunnel is established according to the driving track of the transportation device, and the position of the transportation device in the tunnel is located in real time.
In a preferred embodiment of the invention, the movement information of the transportation equipment is collected, and the overall running path of the transportation equipment is obtained; the method comprises the steps of collecting three-dimensional point cloud information in a tunnel in real time, comparing the three-dimensional point cloud information with a preset matching template, locating the position of the transportation equipment in the tunnel, and correcting the driving path of the transportation equipment in a local area.
In a preferred embodiment of the present invention, the material loading operation of the transportation device before entering the tunnel includes:
loading different materials into different areas of the transport apparatus;
detecting the actual loading weight of the materials in different areas in real time, and comparing the actual loading weight with the preset material loading weight in the corresponding area;
and stopping loading if the actual loading weight of the material reaches the preset material loading weight in the corresponding area.
In a preferred embodiment of the present invention, the unloading the material includes:
judging the type of the material transported by the transportation equipment;
unloading the materials of the corresponding type to the corresponding designated positions;
after the unloading of the materials is finished, detecting whether a barrier exists on the driving route;
and if no obstacle exists, the transportation equipment continues to drive to the next specified position.
In a preferred embodiment of the present invention, the transportation device detects a failure of the transportation device or the falling of the material during the traveling process, the transportation device stops traveling, and sends the failure state information, the location information of the transportation device, and the image information of the location of the transportation device to the outside.
In a preferred embodiment of the present invention, after a material is conveyed once, the actual electric quantity value of the transportation device is detected and compared with a preset safe electric quantity value; and if the actual electric quantity value is smaller than the safe electric quantity value, the transportation equipment drives to a preset charging place to be charged.
The invention provides a shield tunnel material transportation system, which comprises:
the entrance unit is used for controlling the transportation equipment to drive from the tunnel entrance to a specified position in the tunnel by adopting a first variable speed driving mode;
the unloading unit is used for controlling the transportation equipment to stop running at the specified position and unloading the loaded materials;
the return unit is used for controlling the transportation equipment to drive to the tunnel opening from the specified position in the tunnel by adopting a second variable speed driving mode after the unloading of the materials is finished;
and the subsequent processing unit is used for controlling the transportation equipment to repeat the material transportation process or charging the transportation equipment.
In a preferred embodiment of the present invention, a track is laid at the bottom in the tunnel along the tunneling direction, and the transportation device is arranged on the track in a manner of being capable of moving in both directions along the track;
the shield tunnel material transportation system comprises a plurality of laser sensors and a plurality of distance measuring sensors, wherein each laser sensor and each distance measuring sensor are respectively arranged at two ends of the transportation equipment, a detection signal output end of each laser sensor and a detection signal output end of each distance measuring sensor are respectively connected with a detection signal receiving end of a processor, and a detection signal output end of the processor is connected with an upper computer located in a control room.
In a preferred embodiment of the present invention, the shield tunnel material transportation system includes a limit tag, the limit tag is disposed at the designated position, and the transportation device is provided with a signal receiving device for detecting a position of the limit tag.
In a preferred embodiment of the invention, the limit tag is arranged on a trailer connected with the heading machine.
In a preferred embodiment of the present invention, the shield tunnel material transportation system includes a load-bearing sensor, the load-bearing sensor is disposed on the transportation device, and a detection signal output end of the load-bearing sensor is connected to a detection signal receiving end of the processor.
In a preferred embodiment of the present invention, the shield tunnel material transportation system includes a driving motor and an odometer, both of which are disposed on the transportation device, the driving motor is connected to the odometer through a motor encoder, and a detection signal output end of the odometer is connected to a detection signal receiving end of the processor.
In a preferred embodiment of the present invention, the shield tunnel material transportation system includes a plurality of vision sensors, each of the vision sensors is respectively disposed at two ends of the transportation device, and a detection signal output end of each of the vision sensors is respectively connected to a detection signal receiving end of the processor.
In a preferred embodiment of the present invention, the shield tunnel material transportation system includes a battery box, the battery box is disposed on the transportation equipment, an electric quantity detection sensor is disposed on the battery box, and a detection signal output end of the electric quantity detection sensor is connected to a detection signal receiving end of the processor.
In a preferred embodiment of the present invention, the shield tunnel material transportation system includes a charging device, the charging device is disposed outside the tunnel and near the tunnel entrance, and the transportation device is movable toward the charging device and is in butt joint with the charging device for charging.
In a preferred embodiment of the present invention, the shield tunnel material transportation system includes a horn and a lighting lamp disposed on the transportation device.
From the above, the shield tunnel material transportation method and the shield tunnel material transportation system provided by the invention have the characteristics and advantages that: in the process that the transportation equipment runs from the tunnel portal to the designated position for unloading the materials and in the process that the transportation equipment runs from the designated position to the tunnel portal after unloading is finished, the speed of the transportation equipment can be controlled in a variable speed mode according to the running area of the transportation equipment, so that the transportation equipment can automatically complete the actions of starting and stopping, running, obstacle avoidance, charging and the like, the intellectualization and automation of the transportation equipment in the material transportation process are improved, and the method has higher applicability; in addition, the whole material transportation process reduces manual participation, saves labor cost, greatly improves the construction safety and the construction efficiency, shortens the interval between material transportation and tunneling, and improves the intelligent degree of tunneling construction.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention.
Wherein:
FIG. 1: is one of the flow charts of the shield tunnel material transportation method of the invention.
FIG. 2 is a schematic diagram: is the second flow chart of the shield tunnel material transportation method of the invention.
FIG. 3: the invention is a third flow chart of the shield tunnel material transportation method.
FIG. 4: the invention relates to a method for transporting shield tunnel materials.
FIG. 5: the invention relates to a position diagram for arranging limit labels in a shield tunnel material transportation system.
FIG. 6: the invention relates to a structural block diagram of a shield tunnel material transportation system.
FIG. 7 is a schematic view of: the invention is a schematic structural diagram of transportation equipment in the shield tunnel material transportation system.
FIG. 8: the invention is a schematic flow chart of the shield tunnel material transportation method.
The reference numbers in the present invention are:
1. a transportation device; 2. A tunnel;
3. a laser sensor; 4. An odometer;
5. a trailer; 6. A limit tag;
7. a shield body; 8. A track;
9. a distance measuring sensor; 10. A vision sensor;
11. a horn; 12. An illuminating lamp;
13. a processor; 100. An entry unit;
200. an unloading unit; 300. A return unit;
400. and a subsequent processing unit.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
Implementation mode one
As shown in fig. 1, the present invention provides a method for transporting a shield tunnel material, which transports a loaded material to a designated position in a tunnel 2 through a transport apparatus 1, and comprises the following steps:
step S1: the transportation equipment 1 runs to a specified position in the tunnel 2 from the tunnel entrance by adopting a first variable speed running mode; wherein, the designated position can be but not limited to a material unloading position (such as a segment assembling position, a grouting position and the like);
in an alternative embodiment of the present invention, as shown in fig. 2, the first shift mode of travel in step S1 includes:
step S101: the transportation equipment 1 adopts a first running mode to run from the tunnel entrance to the tunnel 2;
step S102: after entering the tunnel 2 for a first predetermined distance, the transport device 1 is switched from the first driving mode to a second driving mode, the speed of which is greater than the speed of the first driving mode, i.e.: the transport equipment 1 increases the running speed;
step S103: after detecting that the distance between the transportation device 1 and the designated position is a second preset distance, the transportation device 1 is changed from the second running mode to a third running mode, the speed of the second running mode is greater than that of the third running mode, namely: the transport apparatus 1 reduces the travel speed.
The first preset distance and the second preset distance can be set by self; the speeds corresponding to the transport apparatus 1 in the first, second and third travel modes can be set by themselves.
In the embodiment, the transportation device 1 slowly travels into the tunnel 2 in the first travel mode at the beginning of the entering form stage, changes to the second travel mode to increase the travel speed after entering the tunnel 2 for a certain distance (for example, traveling to a straight line segment), and changes to the third travel mode again to gradually decrease the travel speed when the specified position is detected.
Step S2: the transportation equipment 1 stops running at a specified position and unloads materials;
in an alternative embodiment of the present invention, as shown in fig. 3, the unloading the material in step S2 includes:
step S201: judging the type of the material transported by the transportation equipment 1; wherein the material can be, but is not limited to, a pipe piece, slurry, a trailer track or a pipeline, etc.
Step S202: unloading the materials of the corresponding types to the corresponding designated positions;
step S203: after the unloading of the materials is finished, detecting whether an obstacle exists on a driving route;
step S204: if no obstacle exists, the transportation device 1 continues to travel to the next designated location.
And step S3: after the unloading of the materials is finished, the transportation equipment 1 adopts a second variable speed driving mode to drive from the specified position in the tunnel 2 to the tunnel entrance;
in an alternative embodiment of the present invention, as shown in fig. 4, the second shift mode of travel in step S3 includes:
step S301: the transportation equipment 1 adopts a fourth driving mode to drive from a specified position to a tunnel entrance;
step S302: after detecting that the distance between the transportation device 1 and the designated position is a third preset distance, the transportation device 1 is switched from the fourth driving mode to a fifth driving mode, and the speed of the fifth driving mode is greater than that of the fourth driving mode, that is: the transport equipment 1 increases the running speed;
step S303: after detecting that the distance between the transportation device 1 and the tunnel entrance is a fourth preset distance, the transportation device 1 is changed from the fifth driving mode to a sixth driving mode, and the speed of the sixth driving mode is greater than that of the fifth driving mode, that is: the transport apparatus 1 reduces the travel speed.
The third preset distance and the fourth preset distance can be set by self; the speeds associated with the transport apparatus 1 in the fourth, fifth and sixth travel modes can be set by themselves.
In this embodiment, after the transportation device 1 finishes unloading the material, the transportation device 1 slowly travels in the fourth travel mode towards the tunnel entrance, changes to the fifth travel mode to increase the travel speed after leaving a certain distance from the designated position, changes to the sixth travel mode to gradually reduce the travel speed when traveling to a position close to the tunnel entrance, and finally slowly travels out of the tunnel entrance to reach the material loading position to start the material loading and transporting process of the next round.
And step S4: the transportation device 1 repeats the material transportation process from the step S1 to the step S3, or charges the transportation device 1.
In an alternative embodiment of the present invention, the position of the tunnel portal and the designated position need to be identified in advance in step S2 and step S3, so as to achieve the purpose of controlling the form speed of the transportation device 1. The method for pre-identifying the position of the tunnel portal and the designated position comprises the following steps: three-dimensional point cloud information in the tunnel 2 is collected in real time through a laser sensor 3 arranged on the transportation equipment 1, boundary data points are screened out from the three-dimensional point cloud information to be fitted, and the fitted shape is compared with a preset matching template to identify the position of a tunnel portal and an appointed position.
Further, since the three-dimensional point cloud information includes the coordinate information of each position, the distance between the transportation device 1 and the central point of the tunnel portal or the central point of the area where the designated position is located can be obtained according to the coordinate information in the three-dimensional point cloud information, so as to determine the distance between the transportation device 1 and the tunnel portal or the designated position. Wherein the designated position comprises the position of the tail of the trailer 5 connected to the shield 7 of the heading machine, as shown in figure 5.
In an optional embodiment of the present invention, when the transportation device 1 detects that an obstacle exists on the driving route during the driving process, the transportation device stops driving to avoid the obstacle. The obstacle may be, but is not limited to, an article or a worker obstructing the normal driving of the transportation device 1.
Furthermore, three-dimensional point cloud information in the tunnel is collected in real time through a laser sensor 3 arranged on the transportation equipment 1, boundary data points are screened from the three-dimensional point cloud information to be fitted, and the fitted shape is compared with a preset matching template so as to identify obstacles on a driving route.
Further, by arranging the distance measuring device on the transportation equipment 1, the distance measuring device can transmit a distance measuring signal and receive a return signal so as to identify the obstacle and the distance on the driving route, thereby achieving the purpose of identifying the obstacle on the driving route. The distance measuring device can be, but is not limited to, an infrared sensor and/or a sound wave sensor, the method for identifying the obstacle is used in cooperation with the laser sensor 3 for identifying the obstacle, the laser sensor 3 is suitable for a longer detection distance, but when the obstacle with a stronger reflection effect (such as a mirror surface) is encountered, the obstacle can be positioned through the infrared sensor and/or the sound wave sensor.
In this embodiment, the method for avoiding the obstacle by the transportation device 1 is as follows: the transportation equipment 1 sends out an alarm signal and reduces the running speed after the laser sensor 3 detects that the obstacle exists on the running route of the transportation equipment in the running process; if the distance between the obstacle and the transportation equipment 1 is detected to be smaller than or equal to the preset safety distance, the transportation equipment 1 stops running; if the obstacle disappears, the transportation equipment 1 stops sending the alarm signal and recovers the driving state; if the obstacle is still located on the driving route of the transportation device 1 after the preset waiting time, the transportation device 1 waits for the control instruction.
In an optional embodiment of the invention, in the driving process of the transportation device 1, the laser sensor 3 and the odometer 4 arranged on the transportation device 1 are matched, the motion information of the transportation device 1 is acquired through the odometer 4, the driving path of the transportation device 1 on the whole can be further acquired, the three-dimensional point cloud information in the tunnel 2 is acquired in real time through the laser sensor 3 and is compared with a preset matching template, so that the positioning of the transportation device 1 in the tunnel 1 is realized, and the driving path of the transportation device 1 in a local area is corrected.
Wherein the motion information of the transportation device 1 includes forward speed information, steering speed information, position information, and posture information of the transportation device 1. The advancing speed information is the average speed of the left wheel and the right wheel of the transportation equipment 1, and the number of arc degrees turned by the wheels in a preset time period is recorded through a speedometer 4, so that the speed of the wheels is calculated; the steering speed information is obtained by calculation according to the radian difference of the left wheel and the right wheel in a preset time period; the position information can obtain the position of the transportation equipment 1 according to the forward speed information; the attitude information may be the deflection angle of the transportation device 1 according to the steering speed information, and further, the attitude of the transportation device 1 is obtained.
Specifically, three-dimensional point cloud information in the tunnel is collected in real time through the laser sensor 3 arranged on the transportation equipment 1, boundary data points are screened out from the three-dimensional point cloud information to be fitted, the fitted shape is compared with a preset matching template, and the position of the transportation equipment 1 in the tunnel 2 is located. In order to solve the problems that GPS positioning is inaccurate or even invalid in local wet and slippery and uneven environments in the tunnel 2, and only the odometer 4 is used for excessively large long-time positioning accumulated error, the laser sensor 3 is matched with the odometer 4, data of the odometer 4 are corrected through a laser filtering algorithm, the position of the transportation equipment 1 in the tunnel 2 is positioned, and a driving route is established.
In an alternative embodiment of the invention, the transport equipment 1, before entering the tunnel 2, performs a material loading operation comprising: loading different materials into different areas of the transport equipment 1; the actual loading weight of the materials in different areas is detected in real time through a plurality of load-bearing sensors arranged on the transportation equipment 1 respectively, and is compared with the preset material loading weight in the corresponding area; and stopping loading if the actual loading weight of the material reaches the preset material loading weight in the corresponding area.
In an optional embodiment of the invention, the transportation device 1 detects that the transportation device 1 is in failure or materials fall off during the running process, the transportation device 1 stops running, and sends out failure state information, information of the location of the transportation device 1 and image information of the location of the transportation device 1 to wait for rescue of workers.
In an optional embodiment of the present invention, after the transportation device 1 completes one material transportation, the actual electric quantity value of the transportation device 1 is detected and compared with the preset safe electric quantity value; and if the actual electric quantity value is smaller than the safe electric quantity value, the transportation equipment drives to a preset charging place to be charged. Wherein, safe electric quantity value can be set for by oneself, needs to guarantee that transportation equipment 1 can accomplish a material and carry the operation at least.
The shield tunnel material transportation method has the characteristics and advantages that:
according to the shield tunnel material transportation method, in the process that the transportation equipment 1 runs from the tunnel portal to the specified position for unloading materials and in the process that the transportation equipment 1 runs from the specified position to the tunnel portal after unloading, the speed of the transportation equipment 1 can be controlled in a variable speed mode according to the running area of the transportation equipment 1, so that the transportation equipment 1 can automatically complete the actions of starting and stopping, running, obstacle avoidance, charging and the like, the intellectualization and automation of the transportation equipment 1 in the material transportation process are improved, and the shield tunnel material transportation method has higher applicability; the whole material transportation process reduces manual participation, saves labor cost, greatly improves construction safety and construction efficiency, shortens the interval between material transportation and tunneling, and improves the intelligent degree of tunneling construction.
Second embodiment
As shown in fig. 6, the present invention provides a shield tunnel material transportation system, which includes:
an entering unit 100, configured to control the transportation device 1 to travel from the tunnel entrance to a specified position in the tunnel 2 by using a first variable speed travel mode;
the unloading unit 200 is used for controlling the transportation equipment 1 to stop running at a specified position and unloading the loaded materials;
the returning unit 300 is used for controlling the transportation equipment 1 to drive to the tunnel entrance from the specified position in the tunnel 2 by adopting a second variable speed driving mode after the unloading of the materials is finished;
and the subsequent processing unit 400 is used for controlling the transportation device 1 to repeat the material transportation process or charging the transportation device 1.
In an alternative embodiment of the invention, as shown in fig. 7, the track 8 is laid on the bottom of the tunnel 2 in the driving direction, the transport device 1 is arranged on the track 8 in a manner of moving in both directions along the track 8, and the trailer 5 moves along the track, so that the track 8 is laid continuously as the driving progresses. Wherein, shield tunnel material transport system includes a plurality of laser sensor 3 and a plurality of range finding sensor 9, each laser sensor 3 sets up respectively in the head and the tail both ends of transportation equipment 1, and each range finding sensor 9 also sets up respectively in the both ends of transportation equipment 1, each laser sensor 3's detection signal output part and each range finding sensor 9's detection signal output part are connected with the detection signal receiving terminal of treater 13 respectively, treater 13's detection signal output part and the host computer that is located the control room outside tunnel 2 are connected. Each laser sensor 3 can gather the three-dimensional point cloud information in the laser sensor 3 the place ahead that corresponds, carries out tunnel portal and the recognition of trailer 5's afterbody position to this adjusts and controls the speed of haulage equipment 1.
Further, as shown in fig. 7, the laser sensors 3 are respectively disposed at the top of the two ends of the transportation device 1, so as to avoid blocking the laser emitted by the laser sensors 3.
Further, the transport apparatus 1 may be, but is not limited to, a transport cart.
In an alternative embodiment of the invention, as shown in fig. 5, the shield tunnel material transportation system comprises a limit tag 6, the limit tag is arranged at a designated position (namely, on a trailer 5 connected with a shield body 7), and the transportation equipment 1 is provided with a signal receiving device for detecting the position of the limit tag 6. Be used for instructing slip casting or placing the position point of waiting to use the pipeline on the trailer 5 through spacing label 6, transportation equipment 1 turns into the slow travel state when going into on the trailer, turns into the stop condition immediately after detecting spacing label 6 transportation equipment 1, and only with the material that corresponds 6 positions of spacing label all uninstallation completion, transportation equipment 1 could change the travel state into by the stop condition. And a limiting label 6 is also arranged at the position of the assembled pipe piece at the foremost end of the trailer 5, and the limiting label 6 indicates that the transportation equipment 1 stops running forwards continuously, so that the transportation equipment 1 cannot run forwards continuously and can only run towards the opposite direction.
In an optional embodiment of the present invention, the shield tunnel material transportation system includes a load bearing sensor, the load bearing sensor is disposed on the transportation equipment, and a detection signal output end of the load bearing sensor is connected with a detection signal receiving end of the processor 13. The actual load weight of the transport device 1 can be detected in real time by means of the load-bearing sensor.
In an alternative embodiment of the present invention, as shown in fig. 7, the shield tunnel material transportation system includes a driving motor and an odometer 4, the driving motor and the odometer 4 are both disposed on the transportation device 1, the driving motor is connected to the odometer 4 through a motor encoder, and a detection signal output end of the odometer 4 is connected to a detection signal receiving end of the processor 13. In the present invention, the odometer 4 is provided at the wheel position of the bottom of the transportation device 1, but the odometer 4 is not limited thereto, and other devices capable of recording the mileage traveled may be used.
Further, the driving motor may be, but is not limited to, a bidirectional driving motor, and may drive the transportation device 1 to travel in both directions.
In the driving process of the transportation equipment 1, the control room outside the tunnel 2 grasps the driving route of the transportation equipment 1 and the position of the transportation equipment 1 in the tunnel 2 in real time, so that the driving route of the current task is established in real time by combining data collected by the laser sensor 3 and the odometer 4 in the driving process of the transportation equipment 1, the transportation equipment 1 can be positioned in the tunnel 2 in real time by combining with the established tunnel three-dimensional model, and a basis is provided for the control room outside the tunnel 2 to acquire the state of the transportation equipment 1 in the tunnel 2 in real time and automatically control the driving.
The specific implementation mode is as follows: in the process of automatically transporting materials by the transporting equipment 1, the running route of the transporting equipment 1 is established in real time, the running position of the transporting equipment in the tunnel 2 is positioned, and a control room outside the tunnel 2 can better master the conditions in the tunnel 2 and the progress of a transporting task. In order to solve the problems that the GPS positioning is inaccurate or even invalid due to the fact that the local wet and slippery and uneven environment in the tunnel 2 exists, the odometer 4 is only used for positioning, the accumulated error is too large for a long time, the data collected by the odometer 4 is corrected by combining laser filtering, and the laser sensor 3 and the data collected by the odometer 4 are combined to position the tunnel 2 of the transportation equipment 1 and establish a driving route. The pose of the transport equipment 1 and the collected landmark position in the local environment in the tunnel 2, the running route and the positioning of the transport equipment 1 can be used as the basis for viewing the state of the transport equipment 1 in the tunnel 2 outside the tunnel 2.
In an alternative embodiment of the present invention, as shown in fig. 7, the shield tunnel material transportation system includes a plurality of vision sensors 10, each vision sensor 10 is respectively disposed at the head and tail ends of the transportation device 1, and the detection signal output end of each vision sensor 10 is respectively connected with the detection signal receiving end of the processor 13. The visual information in the tunnel 2 can be collected in real time through the visual sensor 10 so as to be checked by the staff in the control room outside the tunnel 2.
In an optional embodiment of the present invention, the transportation device 1 is provided with a wireless communication module, and the processor 13 is in communication connection with the upper computer through the wireless communication module. The processor 13 receives information acquired by various signal acquisition devices (such as the laser sensor 3, the odometer 4, the vision sensor 10 and the bearing sensor) to perform autonomous monitoring on the tunnel 2, and the processor 13 performs information interaction with an upper computer in a control room outside the tunnel 2 in real time through a wireless communication module.
In an optional embodiment of the present invention, the shield tunnel material transportation system includes a battery box (not shown) and a charging device (not shown), the battery box is disposed on the transportation device 1, an electric quantity detection sensor is disposed on the battery box, a detection signal output end of the electric quantity detection sensor is connected with a detection signal receiving end of the processor 13, the charging device is disposed outside the tunnel 2 and near the tunnel entrance, and the transportation device 1 can move to the charging device and is in butt joint with the charging device for charging. The battery box is responsible for providing the electric quantity to transportation equipment 1 and each sensor and supports, and electric quantity detection sensor detects the electric quantity of battery box in real time simultaneously, when the electric quantity of battery box is less than predetermined safe electric quantity value, sends alarm information to go to battery charging outfit department by oneself and charge when accomplishing current transportation and return the tunnel portal, transportation equipment 1 also can receive the control command of artificially sending and go to charging.
Further, the charging device may be, but is not limited to, a contactless charging pile.
In an alternative embodiment of the invention, as shown in fig. 7, the shield tunnel material transporting system comprises a plurality of speakers 11 and a plurality of illuminating lamps 12 provided on the transporting apparatus 1. Each loudspeaker 11 is located the bottom position at the head and the tail both ends of transportation equipment 1 respectively, and each light 12 is located the middle part position at the head and the tail both ends of transportation equipment 1 respectively, and loudspeaker 11 is used for reminding and suggestion transportation equipment 1 position, and light 12 uses when the image information in dim environment and the staff outside tunnel 2 needs to gather tunnel 2 through visual sensor 10 in order to look over tunnel 2 interior situation in real time.
In the invention, the automatic driving process and the driving route establishing process of the transportation equipment 1 can be processed in real time through the processor 13, information transmission and exchange can be carried out in a networking state with a control room outside the tunnel 2 in real time, the transportation equipment 1 also independently runs under the control of the processor 13 in an off-network state, data is locally stored, and the data transmission is carried out when the transportation equipment goes out of the tunnel 2 or is accessed to the network. Wherein, current task state can long-rangely be watched to transportation equipment 1, can receive manual instruction, and manual instruction's priority is higher than processor 13's control command, and the control room also can acquire the ambient condition of transportation equipment 1 periphery in real time through visual sensor 10, and light 12 can supply to open automatically or manual when the video information is watched to manual long-rangely under the not good condition of light.
The following is a specific implementation process of the present invention, as shown in fig. 8, firstly, the external portion of the tunnel portal is set as the initial position of the transportation device 1, which facilitates the crane to perform the lifting and loading of the materials such as duct pieces, the materials such as duct pieces to be transported by the transportation device 1 are loaded in different areas of the transportation device 1, and each area is installed with a separate load-bearing sensor, when the crane starts to lift the materials, the load-bearing sensors will measure the actual load weight of the materials loaded in the corresponding area in real time, and when the loading of the materials required by one task (for example, one ring of duct pieces is assembled), the processor 13 can receive the type Y of the currently loaded materials Mat ＝{X seq ,X Stu ，X Con 8230, (for example, the corresponding X value becomes 1 after the loading of a certain material is finished, and for example, the X value becomes 1 after the loading of the tube piece is finished seq = 1), at the same time, the processor 13 automatically changes the transportation device 1 from the state of the initial waiting position to the state of the automatic transportation-tunnel portal, the transportation device 1 starts to be started and runs into the tunnel 2 in the low-speed running state, at the same time, the laser sensor 3 at the head end (one end facing the driving direction) of the transportation device 1 starts to acquire point cloud information in the tunnel 2, the point cloud information is applied to automatic start and stop, obstacle identification and autonomous positioning, and the laser sensor 3 at the tail end of the vehicle of the transportation device 1 also starts to acquire point cloud information in the tunnel 2The point cloud information in the tunnel 2 is applied to identification of the tunnel portal, the shape of the tunnel portal and the distance between the transportation equipment 1 and the tunnel portal are identified by comparing the acquired point cloud data with a preset matching template, and the distance between the transportation equipment 1 and the tunnel portal reaches a safe distance L 1 During the process, the processor 13 can change the transportation equipment 1 from the state of automatic transportation-tunnel entrance into the state of automatic transportation-tunnel entrance, so as to improve the running speed of the transportation equipment 1 in the tunnel 2, at the moment, the processor 13 switches the identification matching template, and the tunnel entrance identification is carried out according to the data collected by the laser sensor 3 at the tail end of the transportation equipment 1, and the trailer 5 identification is carried out according to the data collected by the laser sensor 3 at the head end of the transportation equipment 1.
The transportation equipment 1 is rapidly driven in the tunnel 2 in an 'automatic transportation-tunnel' state until the processor 13 receives laser data acquired by the laser sensor 3 at the vehicle head end and identifies the tail area of the trailer 5, the distance between the current transportation equipment 1 and the trailer 5 is judged in real time, and the current transportation equipment enters a preset safety distance L 2 When the shield machine is used, the transportation equipment 1 is switched from an 'automatic transportation-in-tunnel' state to an 'automatic transportation-trailer section' state, and the running speed of the transportation equipment 1 is reduced (the space on a trailer 5 of the shield machine is limited, the number of equipment is large, the transportation equipment 1 needs to run at a low speed to ensure safety, and the transportation equipment 1 needs to be ensured to be capable of stopping at any time); during the driving process, the processor 13 will determine the current lifted material Y Mat The type of the material transported at this time is sequentially judged according to the sequence of installing the limit tags 6 on the trailer 5, when the transportation equipment 1 passes through the corresponding limit tags 6, the transportation equipment 1 is controlled to stop running, the automatic transportation-trailer section state is switched to the automatic transportation-unloading state, and the unloading of the corresponding material is carried out; when the load-bearing sensor of the area corresponding to the unloaded material on the transportation equipment 1 detects that the material is unloaded and the corresponding area is empty, the transportation equipment 1 moves Y Mat The corresponding X value in the process is adjusted to be 0, the transportation equipment 1 starts to continuously drive forwards to the position of the next limit label 6 after the temporary delay and judgment that no obstacle exists in the front until the unloading of all the materials loaded on the transportation equipment 1 is completed.
After the unloading of the materials is completed, the transportation equipment 1 starts to run reversely, runs at a low speed towards the initial position of the tunnel entrance, switches the transportation equipment 1 from the automatic transportation-trailer section state to the automatic tunnel-trailer section state, and runs out of the trailer area at the low speed (namely, the laser sensor 3 at the vehicle head end of the transportation equipment 1 identifies the position of the trailer 5 and reaches a preset safe distance L from the trailer 5) 2 Then, the transportation equipment 1 is switched to the state of automatically going out of the tunnel and the trailer section from the state of automatically going out of the tunnel and the tunnel, the running speed of the transportation equipment 1 is increased, the matching template of the processor 13 is converted from the laser sensor 3 at the head end of the transportation equipment 1 to the laser sensor 3 at the tail end of the vehicle of the transportation equipment 1 to identify the tunnel entrance, and when the tunnel entrance is identified and the distance between the transportation equipment 1 and the tunnel entrance is detected, the preset safety distance L is reached 1 When the transportation equipment 1 is switched to the state of automatic exit from the tunnel to the tunnel entrance from the state of automatic exit from the tunnel to the tunnel entrance, the running speed of the transportation equipment 1 is reduced, the transportation equipment stops running after the transportation equipment 2 exits from the tunnel and reaches the position of the hoisting device, the state of the transportation equipment 1 is switched to the state of initial waiting position from the state of automatic exit from the tunnel to complete the material conveying process of one round, and a signal of operation to be hoisted (such as information that the current transportation task is completed and the hoisting can be started when the current transportation task returns to the initial position) is sent to a control room outside the tunnel 2, so that the next round of material transportation task can be started.
Transportation equipment 1 is at whole driving process, and laser sensor 3 and range sensor 9 simultaneous working, the cooperation at its head and the tail both ends judge whether have the barrier or get into the staff of tunnel operation to be close, if the condition that probably causes the influence to the normal driving of transportation equipment 1 is found, the warning light (not shown) that sets up on transportation equipment 1 lights and carries out sound and remind, and the driving state of transportation equipment 1 switches into "obstacle avoidance state" simultaneously, promptly: the transportation equipment 1 reduces the self-running speed from high-speed running to slow down, and whether the barrier enters a preset safe distance d when the transportation equipment reaches low-speed running (the specific speed can be automatically set) safe Detecting when the barrier enters a safe distance d safe Within the range, the transportation device 1 immediately stops running; when the obstacle or the staff leaves and the obstacle or the staff cannot be detected by the laser sensor 3 and the distance measuring sensor 9, the transportation equipment 1 is switched from the obstacle avoiding state to the original running state and stops sending the warning signal; if the preset waiting time T is passed wait Then, the obstacle or the worker still exists on the driving route of the transportation device 1, and the processor 13 sends information to the control room outside the tunnel 2 in a wireless communication mode, so that the worker in the control room can know the current condition in real time, and the worker in the control room can determine the next action of the transportation device 1.
In the whole running process of the transportation equipment 1, the processor 13 acquires output data of a motor encoder and a bearing sensor in real time, if the transportation equipment 1 is in a wheel clamping or sliding rail accident, the driving force of a driving motor is continuously increased, but the data detected by the odometer 4 cannot be effectively updated, and at the moment, the processor 13 can judge that the transportation equipment 1 is in the wheel clamping or sliding rail accident; if the material on the transportation equipment 1 slips in the running process, the weight of the material is detected by the load-bearing sensor to be reduced, and the processor 13 can make the judgment of the slipping of the material. When the two conditions occur, the transportation equipment 1 is switched to a 'fault state' from a running state, the driving motor is controlled to stop working, the fault state and the location information in the tunnel 2 are sent to a control room outside the tunnel 2 through wireless communication, and in addition, the current image information in the tunnel 2 is collected through the vision sensor 10 and sent to the control room to wait for rescue of workers.
The shield tunnel material transportation system has the characteristics and advantages that:
1. according to the shield tunnel material transportation system, detection devices such as a laser sensor 3, a vision sensor 10, a distance measuring sensor 9, an electric quantity detection sensor, a odometer 4 and a bearing sensor are arranged on a transportation device 1, and a limit label 6 is arranged on a trailer 5 to realize automatic transportation of shield construction materials; the automatic running of the transportation equipment 1 in the tunnel 2 is realized through the matching of the laser sensor 3, the distance measuring sensor 9 and the limit label 6, and the integration of automatic starting and stopping, automatic running, effective obstacle avoidance and automatic charging of the transportation equipment 1 in the shield construction process is realized.
2. According to the shield tunnel material transportation system, the laser sensor 3 and the odometer 4 jointly realize position sensing of the transportation equipment 1 in the tunnel 2 and generation of a running route of the transportation equipment 1 in the tunnel 2, the vision sensor 10 realizes that workers in a control room outside the tunnel 2 can view the conditions in the tunnel 2 in real time and acquire image information, the load bearing sensor is responsible for state sensing of the transportation equipment 1 when loading and unloading materials, the electric quantity detection sensor is used for indicating the transportation equipment 1 to carry out automatic charging, intellectualization and automation of the whole material transportation process in the tunnel tunneling construction process are completed through matching of each sensor and a preset template, labor cost is saved, construction efficiency is improved, and the sensors and the transportation equipment 1 are integrally designed, so that the system has higher applicability and is particularly applicable to a micro shield tunnel environment; meanwhile, the manual participation of a material transportation link is avoided, the construction safety is greatly improved, the interval between material transportation and tunnel tunneling is shortened, meanwhile, workers can intelligently avoid the behaviors such as barriers in the tunnel, and the intelligent degree of tunneling construction is comprehensively improved.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications of the invention without departing from the spirit and principles of the invention should be considered within the scope of the invention.
Claims (26)
1. A shield tunnel material transportation method transports loaded materials to a designated position in a tunnel through transportation equipment, and is characterized by comprising the following steps:
the transportation equipment runs to a specified position in the tunnel from the tunnel entrance by adopting a first variable speed running mode;
the transportation equipment stops running at the designated position and unloads the materials;
after the unloading of the materials is finished, the transportation equipment runs to the tunnel entrance from the designated position in the tunnel by adopting a second variable speed running mode;
and the transportation equipment repeats the material transportation process or charges the transportation equipment.
2. The shield tunnel material transport method of claim 1 wherein the first variable speed drive mode comprises:
the transportation equipment drives from the tunnel entrance to the tunnel by adopting a first driving mode;
after entering a first preset distance in the tunnel, the transportation equipment is changed from the first driving mode to a second driving mode, and the speed of the second driving mode is greater than that of the first driving mode;
after detecting that the distance between the transportation equipment and the designated position is a second preset distance, the transportation equipment is changed from the second running mode to a third running mode, and the speed of the second running mode is greater than that of the third running mode.
3. The shield tunnel material transport method of claim 1 wherein the second variable speed drive mode comprises:
the transportation equipment drives from the specified position to the tunnel portal in a fourth driving mode;
after detecting that the distance between the transportation device and the designated position is a third preset distance, the transportation device is changed from the fourth traveling mode to a fifth traveling mode, and the speed of the fifth traveling mode is greater than that of the fourth traveling mode;
and after detecting that a fourth preset distance exists between the transportation equipment and the tunnel portal, the transportation equipment is changed from the fifth running mode to a sixth running mode, and the speed of the sixth running mode is greater than that of the fifth running mode.
4. The shield tunnel material transportation method of claim 2 or 3, wherein three-dimensional point cloud information in the tunnel is collected in real time, boundary data points are screened from the three-dimensional point cloud information to be fitted, and the fitted shape is compared with a preset matching template to identify the position of the tunnel entrance and the designated position.
5. The shield tunnel material transportation method according to claim 4, wherein a distance between the transportation device and a center point of the tunnel portal or a center point of a region where the designated position is located is obtained according to coordinate information included in the three-dimensional point cloud information to determine the distance between the transportation device and the tunnel portal or the designated position.
6. The shield tunnel material transport method of claim 4 wherein the designated location includes a location of a tail of a trailer connected to the heading machine.
7. The shield tunnel material transportation method of claim 1, wherein when the transportation equipment detects that an obstacle exists on a driving route of the transportation equipment in a driving process, the transportation equipment stops driving to avoid the obstacle.
8. The shield tunnel material transportation method of claim 7, wherein three-dimensional point cloud information in the tunnel is collected in real time and compared with a preset matching template to identify obstacles on a driving route.
9. The shield tunnel material transport method of claim 8, wherein the transport equipment transmits a ranging signal and receives a return signal to identify obstacles on the travel route.
10. The shield tunnel material transportation method of claim 7, wherein the step of the transportation device avoiding the obstacle comprises:
the transportation equipment sends out an alarm signal and reduces the running speed after detecting that an obstacle exists on a running route of the transportation equipment in the running process;
if the distance between the obstacle and the transportation equipment is detected to be smaller than or equal to a preset safety distance, stopping running of the transportation equipment;
if the obstacle disappears, the transportation equipment stops sending an alarm signal, and meanwhile, the running state is recovered;
and if the obstacle is still positioned on the driving route of the transportation equipment after the preset waiting time, the transportation equipment waits for a control command.
11. The shield tunnel material transportation method of claim 1, wherein a driving route of the transportation equipment in the tunnel is established according to the driving track of the transportation equipment, and the position of the transportation equipment in the tunnel is located in real time.
12. The shield tunnel material transportation method of claim 10, wherein the movement information of the transportation equipment is collected, and the overall travel path of the transportation equipment is obtained; the method comprises the steps of collecting three-dimensional point cloud information in a tunnel in real time, comparing the three-dimensional point cloud information with a preset matching template, locating the position of the transportation equipment in the tunnel, and correcting the driving path of the transportation equipment in a local area.
13. The shield tunnel material transport method of claim 1, wherein the transport equipment performs the material loading operation prior to entering the tunnel, comprising:
loading different materials into different areas of the transport apparatus;
detecting the actual loading weight of the materials in different areas in real time, and comparing the actual loading weight with the preset material loading weight in the corresponding area;
and stopping loading if the actual loading weight of the material reaches the preset material loading weight in the corresponding area.
14. The shield tunnel material transport method of claim 1, wherein the unloading the material comprises:
judging the type of the material transported by the transportation equipment;
unloading the materials of the corresponding type to the corresponding designated positions;
after the unloading of the materials is finished, detecting whether a barrier exists on the driving route;
and if no obstacle exists, the transportation equipment continues to drive to the next specified position.
15. The shield tunnel material transportation method according to claim 1, wherein the transportation device detects a failure of the transportation device or dropping of the material during traveling, stops traveling, and sends out failure state information, location information of the transportation device, and image information of the location of the transportation device.
16. The shield tunnel material transportation method of claim 1, wherein after completing one material transportation, an actual electric quantity value of the transportation equipment is detected and compared with a preset safe electric quantity value; and if the actual electric quantity value is smaller than the safe electric quantity value, the transportation equipment drives to a preset charging place to be charged.
17. A shield tunnel material transport system, comprising:
the entrance unit is used for controlling the transportation equipment to drive from the tunnel entrance to a specified position in the tunnel by adopting a first variable speed driving mode;
the unloading unit is used for controlling the transportation equipment to stop running at the specified position and unloading the loaded materials;
the return unit is used for controlling the transportation equipment to drive to the tunnel opening from the specified position in the tunnel by adopting a second variable speed driving mode after the unloading of the materials is finished;
and the subsequent processing unit is used for controlling the transportation equipment to repeat the material transportation process or charging the transportation equipment.
18. The shield tunnel material transport system of claim 17, wherein a track is laid on the bottom of the tunnel in the direction of the excavation, and the transport equipment is arranged on the track so as to be movable in both directions along the track;
the shield tunnel material transportation system comprises a plurality of laser sensors and a plurality of distance measuring sensors, wherein each laser sensor and each distance measuring sensor are respectively arranged at two ends of the transportation equipment, a detection signal output end of each laser sensor and a detection signal output end of each distance measuring sensor are respectively connected with a detection signal receiving end of a processor, and a detection signal output end of the processor is connected with an upper computer located in a control room.
19. The shield tunnel material transportation system of claim 18, wherein the shield tunnel material transportation system comprises a limit tag, the limit tag is arranged at the designated position, and the transportation equipment is provided with a signal receiving device for detecting the position of the limit tag.
20. The shield tunnel material transport system of claim 19 wherein the limit tag is disposed on a trailer connected to the heading machine.
21. The shield tunnel material transport system of claim 18 or 19, wherein the shield tunnel material transport system comprises a load bearing sensor, the load bearing sensor is arranged on the transport equipment, and a detection signal output end of the load bearing sensor is connected with a detection signal receiving end of the processor.
22. The shield tunnel material transport system of claim 19, wherein the shield tunnel material transport system comprises a driving motor and an odometer, the driving motor and the odometer are both disposed on the transport equipment, the driving motor is connected to the odometer through a motor encoder, and a detection signal output end of the odometer is connected to a detection signal receiving end of the processor.
23. The shield tunnel material transport system of claim 18, wherein the shield tunnel material transport system comprises a plurality of vision sensors, each vision sensor is respectively disposed at two ends of the transport device, and a detection signal output end of each vision sensor is respectively connected with a detection signal receiving end of the processor.
24. The shield tunnel material transportation system of claim 18, wherein the shield tunnel material transportation system comprises a battery box, the battery box is arranged on the transportation equipment, an electric quantity detection sensor is arranged on the battery box, and a detection signal output end of the electric quantity detection sensor is connected with a detection signal receiving end of the processor.
25. The shield tunnel material transport system of claim 24, wherein the shield tunnel material transport system includes a charging device disposed outside the tunnel and proximate the tunnel portal, the transport device being movable toward and into docking with the charging device for charging.
26. The shield tunnel material transport system of claim 18, wherein the shield tunnel material transport system includes a horn and a light disposed on the transport apparatus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210932133.7A CN115263410A (en) | 2022-08-04 | 2022-08-04 | Shield tunnel material transportation method and transportation system thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210932133.7A CN115263410A (en) | 2022-08-04 | 2022-08-04 | Shield tunnel material transportation method and transportation system thereof |
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| CN202210932133.7A Pending CN115263410A (en) | 2022-08-04 | 2022-08-04 | Shield tunnel material transportation method and transportation system thereof |
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