The present invention provides a vibration and strain monitoring method for key positions of a tunnel boring machine (TBM), and belongs to the technical field of real-time monitoring for underground construction of the TBM. The present invention aims to provide a monitoring device and an all-weather monitoring and forecasting system thereof. The present invention acquires monitoring data through vibration and strain sensors and a wireless data transmission system, thereby realizing long-term real-time monitoring for vibration and strain states of key positions of a main machine system of the TBM during operation, reminding operators in time for maintenance and repair, preventing fatigue breakage on key weak positions of the main machine system of the TBM and ensuring safe and reliable operation of the TBM. The present invention further provides an evaluation method for strain states of positions which cannot be measured, i.e., an equivalent mapping method, thereby building a set of vibration monitoring and strain monitoring systems for the tunneling process of the key positions of the main machine system of the TBM.

Systems and methods for detecting underground voids, comprising steps of: digging a tunnel to be the detection path; placing fluid dispensing means along the bottom part of the tunnel wherein said dispensing means further equipped with fluid pressure sensing means; partially sealing the tunnel as to allow a reasonable portion of the fluids dispensed from said fluid dispensing means to travel downwards, deeper into the ground; providing remote device in data or mechanical communication with said sensing means; on initial activation, allowing pressured fluid to be dispensed from said dispensing means until predefined constant pressure threshold in the system is met; maintaining predefined constant pressure range in the system by constantly or periodically dispensing fluid via said dispensing means; constantly or periodically monitoring said pressure sensing mean; and upon detection of abnormal low pressure in the system activating alert means.

A lidar-based convergence deformation monitoring system for surrounding rock around a TBM shield region, including a data acquisition module. The data acquisition module includes: a lidar, a push-rod motor, an H-bridge circuit, a power supply module, an ARM chip, a guide rod, a linear bearing, a tempered glass cover and a protective case. The lidar and the push-rod motor are connected to a lidar connector to acquire raw data of the surrounding rock and store the raw data in the ARM chip. A middle portion of a top plate of the protective case allows the lidar to extend out of the protective case. The protective case is fastened to an inner wall of the TBM shield through two mounting brackets on both sides of the protective case, and the inner wall facilitates the lidar to extend out of the protective case to perform a measurement.

A fractured roof 110 mining method entry-side anti-collapsed structure, one working face of the 110 mining method corresponds to one roadway but without retaining any coal pillar, the roadway retains an entry after the previous working face implements mining top-cutting pressure release, and a roof of the roadway is arch-shape, directional cutting is conducted on one side of the roadway, and the cutting angle is between 15-20 degrees. One working face corresponds to one roadway but without retaining any coal pillar when underground mining is conducted, which can save resources and improve recovery rate of mining. And, the roof of the roadway of the retained entry is arch-shaped, which can improve safety and ensure safety of the coal mining working face. In addition, a cutting angle is 15-20 degrees, which can effectively determine a roof caving direction after top-cutting and reduce affect to the retained entry.

A fractured roof 110 mining method entry-side anti-collapsed structure, one working face of the 110 mining method corresponds to one roadway but without retaining any coal pillar, the roadway retains an entry after the previous working face implements mining top-cutting pressure release, and a roof of the roadway is arch-shape, directional cutting is conducted on one side of the roadway, and the cutting angle is between 15-20 degrees. One working face corresponds to one roadway but without retaining any coal pillar when underground mining is conducted, which can save resources and improve recovery rate of mining. And, the roof of the roadway of the retained entry is arch-shaped, which can improve safety and ensure safety of the coal mining working face. In addition, a cutting angle is 15-20 degrees, which can effectively determine a roof caving direction after top-cutting and reduce affect to the retained entry.

Systems and methods for installing pipe underground are disclosed. The system includes a pneumatic rammer configured to provide a percussive force to a section of pipe. The system also includes a main jacking frame coupled to the pneumatic rammer, the main jacking frame including a surface for contacting the section of pipe. The system also includes one or more hydraulic jacks coupled to the main jacking frame and configured to provide a hydraulic force to the section of pipe. The system also includes a set of tracks coupled to the main jacking frame, the set of tracks permitting the main jacking frame to slide in a longitudinal direction. An independently displaceable soil-clearing system can be included to clear dirt coming inside the pipe during the installation and add extra jacking force as needed.

A laser-assisted tunnel boring machine and a rock fragmenting method thereof belong to the technical field of tunnel engineering. Two rock fragmenting modes exist: a laser-cutter rock fragmenting mode and a cutter rock fragmenting mode, wherein the two rock fragmenting modes are switched by an intelligent control system; and for the laser-assisted rock fragmenting mode, hot fragmenting is mainly performed using lasers which assisted by water spray systems, to achieve the purposes of auxiliary rock fragmenting by laser radiation for hot cracking and water spray for quick cooling, and mechanical rock fragmenting for excavation.

This invention relates to an injection tool which comprises a longer smaller diameter pipe assembled movable inside a shorter larger diameter pipe, a connection piece assembled at the first end of the smaller diameter pipe, a projecting part connected to the smaller diameter pipe near the connecting piece, the projecting part having an opening or groove for a bolt, a projecting part connected near to the first end of the larger diameter pipe the projecting part having threaded opening for the bolt, the bolt connecting the projecting parts and the bolt having a fixed stopper plate, a nose piece assembled to the second end of the smaller diameter pipe, a press plate assembled to the second end of the larger diameter pipe and a sealing rubber around the smaller diameter pipe situated between the nose piece and the press plate. This invention also relates to a method for injection which comprises the steps of entering the injection tool to the borehole, tightening the injection tool to the borehole, connecting the injection machine to the injection tool, starting the injection, and an forming automatically functioning valve to the nose piece at the second end of the injection tool.

The invention relates to a method (S10) for optimizing the characteristics of a tunnel boring machine, particularly a tunnel boring machine of the slurry pressure or VD type, said method comprising the following steps: S0: determining a ground/machine interaction model, S11: instantaneous measurement of the set of specific boring parameters of the tunnel boring machine, S13: determining the group of individuals corresponding to the boring parameters measured in step S11 by means of the ground/machine interaction model, S14: optimizing the characteristics of the tunnel boring machine as a function of the group of individuals thus determined.

In one embodiment, the present disclosure provides a robot automated mining method. In one embodiment, a method includes a robot positioning a charging component for entry into a drill hole. In one embodiment, a method includes a robot moving a charging component within a drill hole. In one embodiment, a method includes a robot filling a drill hole with explosive material. In one embodiment, a method includes operating a robot within a mining environment.