A directional drilling-exploring-monitoring integrated method for guaranteeing safety of an underwater shield tunnel includes: drilling a small-diameter borehole below a water area, and establishing an initial geological model; reaming the small-diameter borehole into a large-diameter borehole, placing a parallel electrical method (PEM) power cable and a monitoring optical fiber cable into the large-diameter borehole, acquiring zero field data, primary field data and secondary field data through carbon rod measurement electrodes before tunnel excavation, and processing the data with an existing inversion method to form an inversion image, thereby obtaining a refined geological model of a stratum; starting the tunnel excavation, and respectively acquiring a disturbance condition of rock and soil and a sedimentation and deformation condition of rock and soil around the tunnel during the excavation, thereby implementing safety excavation of the tunnel; and continuously monitoring the tunnel and the surrounding rock and soil in later use of the tunnel.

A method for predicting a specific energy of a cutter head of a tunnel boring machine includes obtaining a parameter of the tunnel boring machine to be measured configured to influence the specific energy of the cutter head to be measured, and inputting the obtained parameter of the tunnel boring machine to be measured into a model for predicting the specific energy of an apparatus to obtain a total predicted specific energy value of the cutter head and a proportion of each component of the total predicted specific energy value. The method comprehensively considers various influence factors, and outputs a proportion and a change of each component in the specific energy of the cutter head along with the construction process, thereby providing a foundation for optimal allocation of the specific energy of the cutter head of the tunnel boring machine.

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.

Described herein are new methods and systems for profiling tunnels. A method comprises moving a shuttle within a shuttle track extending between a boring apparatus (inside a tunnel) and a base station (outside the tunnel). The shuttle is equipped with a movement sensor, which records various movement parameters (e.g., linear and/or angular accelerations) while the shuttle moves within the shuttle track. These movement parameters are then transferred to a tunnel profiler (e.g., a base station) and the profile of the tunnel is determined based on these movement parameters. For example, a shuttle track can be a flexible tube (e.g., continuous or segmented) with the shuttle positioned within the tube. The shuttle can be removed from the tube or remain in the tube while the movement parameters are transferred and, in some examples, while the shuttle is recharged.

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.

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 automatic test system and method for mechanical parameters of surrounding rock applicable to a TBM. The system includes: an aggregate portion collecting a rock slag in a TBM tunneling process in real time; a gripping portion gripping any rock slag from obtained rock slags; a visual processing apparatus performing three-dimensional imaging for a rock slag under test in an infrared ranging manner; calculating positions of loading points for an abrasiveness test experiment, and determining, based on a spacing between loading points, whether rock slag under test meets a requirement; and determining actual positions of loading points if the rock slag under test meets the requirement, and determining a region, on a surface of rock slag, that meets a set condition as an action region for abrasiveness test experiment; and a rock abrasiveness test apparatus automatically performing an abrasiveness test for a rock slag under test that meets a requirement.