A control method of a drill jumbo is provided. The drill jumbo includes a pre-splitting arm, a drill arm, and a chamber. The pre-splitting arm includes a positioning device, a fixing buckle, a longer rod, an electric telescopic rod, and a water injection opening. The chamber includes a constant pressure valve, an excitation circuit, and a port. A computer controls the positioning device to perform positioning, afterwards, the fixing buckle is opened, the telescopic rod is started, the longer rod is jacked into a position in the hole, and oil is injected into a hydraulic expansion capsule. After blocking of the hole is completed, water is injected into the water injection opening. The port is opened to inject a mixed-phase fluid. The port is closed, the excitation circuit is started, and after a pressure rises to a set value, the constant pressure valve is opened.

A drilling device for surveying front rock-mass intactness of a tunnel face for a tunnel constructed by a TBM and a method using the same are provided. The drilling device includes a drilling assembly, a drill-attitude control assembly, a data monitoring assembly and a TBM-platform fixing seat. The drilling assembly is connected to a TBM hydraulic system to obtain power, to drill the rock mass by an alloy bit through rotation and translation thereof. The drill-attitude control assembly controls an angle, a direction and a position of a drill rod and maintains drilling accuracy and stability. The data monitoring assembly acquires and stores a drilling dynamic-response signal by a high-accuracy sensor and a data recorder, to analyze an intactness characteristic of the rock mass. The TBM-platform fixing seat mounts the drilling device on the TBM.

A system and a method identify an adverse geological body in a tunnel based on hyperspectral technology analysis. The system includes a wall-climbing robot, a controller, and a signal processor, wherein the wall-climbing robot is provided with a plurality of groups of hyperspectral light sources and receivers, and the hyperspectral light sources and the receivers are arranged at intervals; the controller is configured to control the operation of the wall-climbing robot to ensure that the wall-climbing robot moves on a tunnel face according to a set spiral path; and the signal processor communicates with the receivers to receive the acquired spectrum data, draws a mineral distribution map of the tunnel face with the path raveled by the wall-climbing robot as a plane, and identifies an adverse geological body by identifying categories and distribution characteristics of the representative minerals.

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 method for controlling drilling for rock burst prevention drilling in a coal mine roadway is provided. The method comprises: acquiring rock mechanical parameters of coal mass in surrounding rock of a roadway to be subjected to burst-preventing drilling construction, and calculating a surrounding rock critical softening depth, a critical ground stress and a critical mining peak stress for rock burst initiation in the roadway; calculating a critical mining-induced stress index of the roadway to realize quantification of burst risk; then determining critical conditions for drillhole burst and a quantitative relationship between the critical conditions for drillhole burst and for roadway rock burst initiation; quantitatively determining construction parameters of burst-preventing drillholes according to the surrounding rock critical softening depth, a critical plastic softening zone radius for drillhole burst, and the critical mining-induced stress index; and controlling a drilling machine to operate according to the determined construction parameters.

An apparatus, rock drilling rig, method and computer program for executing navigation for a rock drilling rig in a mine tunnel. The rock drilling rig is positioned at faces of rounds and is navigated before initiating drilling. The navigation is executed without a predetermined tunnel line. The realized tunnel line is formed by combining navigation data on several rounds. Length and direction of the round to be drilled next may be adjusted according to need.

Disclosed a combined rock-breaking TBM tunneling method in complex strata for realizing three-way force detection, comprising the steps of preparing a combined mechanical-hydraulic rock-breaking cutter head for TBM construction; starting construction; advancing the combined mechanical-hydraulic rock-breaking cutter head; pushing and pressing against a tunnel face by a mechanical cutter tool; subjecting a three-way force detection cutter to squeezing forces; feeding back three-way force data by a three-way force sensor; processing information by a TBM back-end control processor; obtaining a value of rock-cutter contact angle φ; feeding back parameter information to a TBM cutter head control center by a lithology index center; responding by the TBM cutter head control center, obtaining and adjusting parameters by the mechanical cutter tool equipped with the three-way force sensor; and breaking rock by the combined mechanical-hydraulic rock-breaking cutter head. The method disclosed is energy-saving and efficient, and has high rock-breaking efficiency.

An apparatus includes a current excitation source, a roadheader telescopic protection cylinder, an electric rotating apparatus, auxiliary cutting teeth, a cutting head entity, a transmission shaft, an optical fiber ring protective housing, an optical fiber ring, an optical fiber current sensor control unit and a recovery electrode. The apparatus transmits an auxiliary current I.sub.e and a monitoring current I.sub.d to a coal seam. The auxiliary current I.sub.e and the monitoring current I.sub.d are homologous currents that are incompatible, and the auxiliary current I.sub.e squeezes the monitoring current I.sub.d, so the monitoring current I.sub.d monitors the environment of the coal seam. The monitoring current I.sub.d flows to the coal seam as, and a return current I.sub.f flows through the transmission shaft and a roadheader expansion part. The optical fiber ring measures the return current I.sub.f, when the roadheader is heading forward and encounters abnormal geological bodies.

An automatic microseismic monitoring-intelligent rockburst early warning integrated method is further provided.

A safe early warning method and device for full-section tunneling of a tunnel featuring dynamic water and weak surrounding rock, comprising establishing a dynamic coordinate system with an origin thereof moving along a tunnel excavation line, recording the moving distance of the origin, conducting three-dimensional laser scanning with the origin as a center to obtain point cloud data including coordinate data, collecting surrounding rock data; conducting deformation fitting on the point cloud data, calculating a fitting residual error, removing a noisy point, and conducting preprocessing; combining data of preprocessed point cloud, surrounding rock, and the tunnel excavation line to construct a tunnel excavation dynamic model; conducting stress analysis according to the model and determining whether to send out a safety early warning signal. The device comprises a three-dimensional laser scanner, a geological radar device, a displacement module, an industrial computer, a data transmission module, an alarm, and a server.