Systems to bore or tunnel through various geologies in an autonomous or substantially autonomous manner can include one or more non-contact boring elements that direct energy at the bore face to remove material from the bore face through fracture, spallation, and removal of the material. The systems can automatically execute methods to control a set of boring parameters that affect the flux of energy directed at the bore face. Systems can further automatically execute the methods to trigger an optical sensor to capture images at the bore face, generate temperature profiles, identify spall fragments and hot zones and/or adjust a set of boring controls. For example, the system can execute methods to adjust a standoff distance between the system and the bore face, and adjust power and/or gas supply to the non-contact boring element.

An automatic scanning system for tunnel walls constructed by open-type TBM, to realize the automatic, accurate, rapid and omnidirectional scanning of tunnel wall. The system comprises a three-dimensional laser scanner, a walking unit, a circumferential track, several connecting rods and a remote-control unit; wherein the three-dimensional laser scanner is fixed on the walking unit. The walking unit is provided on the circumferential track and configured to walk on the circumferential track at a set speed and a set number of walking cycles according to a control instruction. The circumferential track is fixed on the main beam of open-type TBM through the connecting rods and located between the roof bolter and cylinder of gripper shoe. The remote-control unit is configured to issue the control instruction and control the three-dimensional laser scanner to scan the tunnel wall and transmit the scanning data using set scanning parameters.

A device includes a pressure measuring segment, a connecting rod, a hydraulic pump, a pressure gauge, a high-pressure oil pipe, a pressure control valve, a tray, a push rod and a connection casing. The pressure measuring segment is on the connecting rod, a front end of the push rod is connected with the connecting rod, the tray is at a rear end of the push rod, the connection casing is connected with the tray. The pressure measuring segment includes a main pipe, a hydraulic bladder, a fixing ring, a barrier sheet, an outer pillow housing and a connection sleeve. Both ends of the hydraulic bladder are sleeved on the main pipe, an oil inlet is in communication with the hydraulic bladder, the outer pillow housing is sleeved on the main pipe, the connection sleeve is wrapped around the outer pillow housing.

A tunnel boring robot includes a tunnel boring machine, a sensing unit, an intelligent decision unit, and a controller unit. The sensing unit, the intelligent decision unit and the controller unit are disposed at the tunnel boring machine. The sensing unit is configured to sense, in real time, boring operation data of a current cycle during which the tunnel boring machine is working according to set boring parameter information. The intelligent decision unit is configured to receive the boring operation data sent by the sensing unit, and generate the set boring parameter information for a next cycle according to a preset prediction algorithm, the boring operation data and a desired boring effect. The controller unit is configured to receive the set boring parameter information, and control the tunnel boring machine to perform a boring operation for the next cycle according to the set boring parameter information.

The disclosure belongs to the field of tunnel construction technologies, and more particularly, relates to a construction method for making a water-rich sand layer shield over cross an existing line and underneath cross a sewage push pipe at a close range. The method specifically includes the following steps of: S1) before construction, using MIDAS GTS NX software and FLAC3D to optimize a tunneling scheme antecedently by numerical simulation to determine a part of unfavourable stress; S2) tunneling a test section, the test section being a stratum crossing a front shield direction by 45 m to 60 m; and S3) performing shield crossing construction, wherein a shield crossing construction process includes the steps of: 1) controlling a soil pressure; 2) controlling a shield thrust; 3) performing synchronous grouting; 4) performing a ballasting measure in a tunnel; and 5) performing automatic monitoring in the tunnel.

A tunnel boring machine having a cutting wheel equipped with a number of excavation tools provided with sensor units and, in a corresponding tunnelling method, only substantially fully worn excavation tools are able to be replaced using a data processing device designed with an advancement planning unit by detecting the current state of the excavation tools and predicting the state of the excavation tools on tool replacement predication planes lying in the advancing direction.

Systems for forming or extending a tunnel or shaft within a working surface may include a ram accelerator assembly for accelerating a projectile into geologic material to weaken a region of the geologic material. A cutting tool may then be used to remove the weakened material more rapidly, with lower energy use and less wear on the cutting tool than use of the cutting tool independently. A collection assembly may be used to move debris away from the working surface while the projectile and cutting operations are performed to enable generally continuous use of the system. The number of projectiles that are accelerated and the rate at which projectiles are used may be controlled based on characteristics of the geologic material and the rate at which created debris may be removed, allowing an operation to be optimized for speed, cost, stability, or other factors.

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 system for drilling one or more boreholes in a face of a mine passage including markers attached to the mine passage. A drilling machine includes one or more drills for drilling the one or more boreholes, and a first sensor for sensing a position of the markers. Based on the sensed position of the at least two markers, a computer determines: (i) a survey vector generally parallel to the line; and (ii) a face plane generally orthogonal to the survey vector and coincident with a location where the survey vector intersects the face. A controller may be provided for automatically controlling the feeding of the drill(s) based on the location of the face plane and the back plane to form the boreholes in the face. A back plane may also be determined to ensure that all boreholes are drilled to a corresponding depth. Related methods are also disclosed.

In a device and a method for continuously driving a tunnel along a desired setpoint trajectory there is provision to influence pressing forces which are applied to installed tubbing segments by compactors using a control circuit, wherein, during the driving and during the installation of tubbing rings, an actual trajectory of the device remains in a region which is permissible for maintaining the desired set point trajectory.