Drilling pipe, drilling tool and tunnel geological advance detection method

Abstract

The application discloses a drill rod, a drilling tool and a tunnel geological advanced detection method, the drill rod comprises a rod body, a water pressure sensor and a camera device, the rod body has an inner peripheral wall and an outer peripheral wall, a containing cavity is formed between the inner peripheral wall and the outer peripheral wall, the outer peripheral wall is provided with a first detection area and a second detection area, the first detection area is provided with a detection port, and the second detection area comprises a movable wall which can move along the inner and outer directions relative to the rod body; the water pressure sensor is arranged in the containing cavity and located at the detection port, is matched with the detection port and is used for detecting the water pressure in the tunnel; the camera device is arranged in the containing cavity and corresponds to the movable wall, the camera device can move along the inner and outer directions to act on the movable wall and move in and out of the containing cavity, and is used for shooting the environment in the tunnel when moving out of the containing cavity; thus, the water pressure measurement and the image shooting two surveying means are combined, the surveying of various complex and changeable geological environments and adverse geological belts is realized, and the safety and timeliness in the tunnel excavation process are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of geological exploration, in particular to a drill pipe, a drilling tool and a tunnel geological advanced detection method. BACKGROUND

[0002] In the process of tunnel engineering construction in the southwest region of China, it is often necessary to pass through various complex and variable geological environments and unfavorable geological zones, among which karst geological conditions are an important factor restricting tunnel construction. For karst areas, the development scale, development depth and development direction of karst have certain rules to follow, which can be determined regionally through drilling, geophysical prospecting and geological mapping; however, in engineering construction, it is necessary to find out the development of karst at a certain point or pile position, especially the lateral development of karst, at which time the development rules of karst become unpredictable, which is also the difficulty in the process of tunnel excavation in karst areas. At present, the commonly used tunnel advanced geological prediction methods at home and abroad are roughly divided into macro-geological analysis method, TGP seismic wave method, geological radar method, transient electromagnetic method and advanced drilling method.

[0003] However, the existing drill pipe can only perform single measurement when encountering karst, water-containing cavity, cavity and the like, which not only consumes a large amount of time, but also greatly increases the cost. SUMMARY

[0004] The main purpose of the present application is to provide a drill pipe, a drilling tool and a tunnel geological advanced detection method, which aims to solve the above problems.

[0005] To achieve the above purpose, the present application provides a drill pipe for advanced detection of geology in the process of tunnel excavation, which comprises:

[0006] A rod body having an inner peripheral wall and an outer peripheral wall, a containing cavity being formed between the inner peripheral wall and the outer peripheral wall, the outer peripheral wall being provided with a first detection zone and a second detection zone, the first detection zone being provided with a detection port, and the second detection zone comprising a movable wall movable along an inner-outer direction relative to the rod body;

[0007] A water pressure sensor arranged in the containing cavity and located at the detection port, which is adapted to the detection port and used for detecting the water pressure in the tunnel; and

[0008] A camera device arranged in the containing cavity and corresponding to the movable wall, the camera device being movable along the inner-outer direction to act on the movable wall and move in and out of the containing cavity, and used for shooting the environment in the tunnel when moved out of the containing cavity.

[0009] Optionally, the drill rod further comprises a controller, which is electrically connected with the water pressure sensor and the camera device respectively, and used for receiving water pressure information detected by the water pressure sensor and image information detected by the camera device.

[0010] Optionally, the rod body has a detection end and a control end along its extension direction, the detection end is used for being arranged close to a drill bit, the water pressure sensor and the camera device are arranged at the detection end, and the controller is arranged at the control end.

[0011] Optionally, the controller is electrically connected with the water pressure sensor and the camera device through a wire, and an insulating tape is arranged at a joint of the wire.

[0012] Optionally, a detection net is arranged at the detection port, and a plurality of detection holes are arranged on the detection net, and an aperture of each detection hole is less than or equal to 8 mm.

[0013] Optionally, a water baffle is arranged in the accommodating cavity, the water baffle is located between the detection end and the control end, and is arranged along a circumferential direction of the rod body;

[0014] The water baffle is penetrated by a wire penetrating hole, the wire penetrating hole is used for penetrating the wire, and a rubber pad is arranged between the wire penetrating hole and the wire.

[0015] Optionally, the movable wall comprises:

[0016] a connecting end connected with the outer peripheral wall; and

[0017] a movable end swingable relative to the connecting wall along the inner-outer direction;

[0018] The accommodating cavity further comprises a driving mechanism, the driving mechanism comprises:

[0019] an electric jack comprising a top cover and a motor, the top cover is fixedly connected with the camera device, the motor is drivingly connected with the top cover, and used for driving the top cover to move along the inner-outer direction, and the controller is electrically connected with the motor; and

[0020] a spring arranged in the accommodating cavity and corresponding to the movable wall, the spring extends along the inner-outer direction, one end of the spring is fixedly connected with the outer peripheral wall, and the other end is fixedly connected with the movable end.

[0021] Optionally, two first detection zones and two second detection zones are arranged respectively, the two first detection zones and the two second detection zones are distributed along a circumferential direction of the rod body, the two first detection zones are distributed along a first direction, and the two second detection zones are distributed along a second direction.

[0022] The water pressure sensor is provided with two, two water pressure sensors and two first detection areas one-to-one corresponding setting;

[0023] The camera is provided with two, two cameras and two second detection areas one-to-one corresponding setting;

[0024] The first direction and the second direction are perpendicular in the plane.

[0025] The application also provides a drilling tool, comprising:

[0026] The drilling bit has a head end and a tail end; and,

[0027] The drilling rod is connected to the tail end of the drilling bit;

[0028] The drilling rod comprises:

[0029] The rod body has an inner peripheral wall and an outer peripheral wall, and a receiving cavity is formed between the inner peripheral wall and the outer peripheral wall, the outer peripheral wall is provided with a first detection area and a second detection area, the first detection area is provided with a detection port, and the second detection area comprises a movable wall that can move in an inner-outer direction relative to the rod body;

[0030] The water pressure sensor is arranged in the receiving cavity and located at the detection port, matched with the detection port, and used for detecting the water pressure in the tunnel; and,

[0031] The camera is arranged in the receiving cavity and arranged corresponding to the movable wall, the camera can move in the inner-outer direction to act on the movable wall and move in and out of the receiving cavity, and is used for shooting the environment in the tunnel when moved out of the receiving cavity.

[0032] The application also provides a tunnel geological advanced detection method, using the above drilling tool, the tunnel geological advanced detection method comprises:

[0033] The drilling bit and part of the drilling rod of the drilling tool are drilled into the working face, so that the first detection area and the second detection area of the drilling rod are located in the water-bearing area in the tunnel;

[0034] The water pressure of the water-bearing area is detected by the water pressure sensor of the drilling rod to obtain the water pressure information of the tunnel;

[0035] The camera in the drilling rod is driven to move from the rod body to the outside of the rod body for shooting to obtain the image information of the internal environment of the tunnel.

[0036] In the technical solution of this invention, when the drill rod is drilled into the tunnel face, and the first and second detection zones of the drill rod are located in the water-bearing area within the tunnel, the water in the tunnel can enter the water pressure sensor to detect the water pressure, thereby measuring the water pressure in the water-bearing area and obtaining water pressure information. Meanwhile, the camera device moves along the inward and outward directions, acting on the movable wall relative to the drill rod to form an opening, and moves outside the accommodating cavity through the opening to capture images of the tunnel's internal environment, obtaining image information. Based on the water pressure information and the image information, the geological conditions within the tunnel are obtained. The drill rod provided by this invention combines two exploration methods, making it suitable for various complex and variable geological environments and adverse geological zones. It can improve the safety and timeliness of tunnel excavation, meet the current exploration needs of karst areas, and ensure continuous tunnel advancement with high efficiency and low risk, while also being simple to operate. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0038] Figure 1 A schematic diagram of the structure of an embodiment of the drilling tool provided by the present invention;

[0039] Figure 2 for Figure 1 A partial structural diagram of the drill pipe used in drilling tools;

[0040] Figure 3 for Figure 2 A cross-sectional view of the drill pipe during drilling;

[0041] Figure 4 for Figure 2 A schematic diagram of the detection network structure of the drill pipe during drilling;

[0042] Figure 5 for Figure 2 A schematic diagram of the structure of the second detection zone in the drill pipe during drilling;

[0043] Figure 6 This is a flowchart illustrating a method for advanced geological detection of tunnels provided by the present invention.

[0044] Explanation of icon numbers:

[0045]

[0046] The objectives, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the accompanying drawings. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the protection scope of the present application.

[0048] It should be noted that if the embodiments of the present application involve directionality indication (such as up, down, left, right, front, back, etc.), the directionality indication is only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings). If the specific posture changes, the directionality indication also changes accordingly.

[0049] In addition, if the embodiments of the present application involve the description of "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes A scheme, or B scheme, or A and B schemes. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it. When the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0050] In the process of tunnel engineering construction in the southwest region of China, it is often necessary to pass through various complex and variable geological environments and unfavorable geological belts. The karst geological condition is an important factor restricting tunnel construction. For karst areas, the development scale, development depth and development direction of karst have certain rules, which can be determined regionally through drilling, geophysical prospecting and geological mapping; however, in engineering construction, the development of karst at a certain point or pile position, especially the lateral development of karst, needs to be found out, and at this time, the development rule of karst becomes unpredictable, which is also the difficulty in the process of tunnel excavation in karst areas. At present, the commonly used tunnel advanced geological prediction methods at home and abroad are roughly divided into macro-geological analysis method, TGP seismic wave method, geological radar method, transient electromagnetic method and advanced drilling method.

[0051] However, the existing drilling tools can only perform single measurement when karst, water-containing cavity, cavity and the like appear, which not only consumes a large amount of time, but also greatly increases the cost.

[0052] Therefore, the present application provides a drilling rod 100, a drilling tool 1000 and a tunnel geological advanced detection method. Figure 1 The drilling tool 1000 comprises a drilling head 200 and the drilling rod 100.

[0053] The drilling rod 100 comprises a rod body 1, a water pressure sensor 2 and a camera device 3. Figures 1 to 5 The rod body 1 has an inner circumferential wall 11 and an outer circumferential wall 12, and a containing cavity 13 is formed between the inner circumferential wall 11 and the outer circumferential wall 12. The water pressure sensor 2 is arranged in the containing cavity 13 and located at the detection port, and is matched with the detection port and used for detecting the water pressure in the tunnel 2000. The camera device 3 is arranged in the containing cavity 13 and corresponds to the movable wall 1221.

[0054] When the rod body 1 drills into the tunnel face 2100 of the tunnel 2000 and the first detection area 121 and the second detection area 122 of the drilling rod 100 are located in the water-containing area in the tunnel 2000, the water in the tunnel 2000 can enter the water pressure sensor 2 to detect the water pressure, realize the water pressure measurement of the water-containing area and obtain the water pressure information. The camera device 3 moves along the inner-outer direction, acts on the movable wall 1221 to move relative to the rod body 1 to form an opening, and moves outside the containing cavity 13 through the opening to realize the shooting of the internal environment of the tunnel 2000 and obtain the image information. According to the water pressure information and the image information, the geological conditions in the tunnel 2000 can be obtained. The drilling rod 100 provided by the present application combines two kinds of surveying means, is suitable for surveying various complex geological environments and adverse geological belts, can improve the safety and timeliness in the tunneling process of the tunnel 2000, meets the surveying requirements of the karst area at the present stage, continuously promotes under the condition of ensuring the high efficiency and low risk of the tunnel 2000, and is simple to operate.

[0055] It should be noted that in the present application, the type of the water pressure sensor 2 is not limited, and specifically, in an embodiment of the present application, the water pressure sensor 2 is a osmometer, and the internal environment temperature of the tunnel 2000 can also be measured synchronously.

[0056] Further, the drill pipe 100 also comprises a controller, which is electrically connected with the water pressure sensor 2 and the camera 3 respectively, for receiving the water pressure information detected by the water pressure sensor 2 and the image information detected by the camera 3.

[0057] Further, the rod body 1 has a detection end 14 and a control end along its extension direction, the detection end 14 is arranged close to the drill bit, the water pressure sensor 2 and the camera 3 are arranged at the detection end 14, and the controller is arranged at the control end; in this way, when the geological ahead is detected, only the detection end 14 needs to be drilled into the working face 2100 to detect, and the control end is prevented from being drilled into the working face 2100 to damage the controller.

[0058] Specifically, the controller is electrically connected with the water pressure sensor 2 and the camera 3 through the wire 4, and the joint of the wire 4 is provided with insulating tape, which is sealed by the insulating tape to prevent the joint of the wire 4 from being corroded and damaged due to water, and to improve safety.

[0059] Specifically, in order to prevent the water in the tunnel 2000 from entering the inside of the accommodating cavity 13 in a large amount through the detection port to damage the wire 4 and affect the connection of the water pressure sensor 2 and the controller, the size of the water pressure sensor 2 is matched with the size of the detection port, that is, the water pressure sensor 2 is blocked in the detection port to reduce the amount of water entering the accommodating cavity 13. Further, as shown in Figure 4 , the detection port is provided with a detection net 5, a plurality of detection holes 51 are formed on the detection net 5, and the diameter of each detection hole is less than or equal to 8 mm, so as to avoid that the diameter of the detection hole is too large, and thus the water inflow of the accommodating cavity 13 is further reduced, the service life of the drill pipe 100 is prolonged, and the practicability is improved.

[0060] Specifically, as shown in Figure 2 , a water baffle 6 is arranged in the accommodating cavity 13, the water baffle 6 is located between the detection end 14 and the control end and is arranged along the circumferential direction of the rod body 1; that is, the water baffle 6 is sleeved on the outer periphery of the inner circumferential wall 11 and is sleeved on the inner periphery of the outer circumferential wall 12; in this way, when water enters the accommodating cavity 13, the water baffle 6 can block the water from approaching the control end to damage the controller.

[0061] Further, the water baffle 6 is provided with a wire hole for inserting the wire 4, so as to realize the electrical connection between the controller and the water pressure sensor 2 and the camera 3; due to the machining error and other factors, there is a gap between the hole wall of the wire hole and the wire 4, in order to avoid the water flowing into the side of the water baffle 6 close to the controller through the gap, in some embodiments of the present application, a rubber pad is arranged between the wire hole and the wire 4, so as to reduce the gap and enhance the water blocking effect.

[0062] It should be noted that the connection mode of the water baffle 6 and the rod body 1 is not limited, which can be buckle connection, welding, screw connection and the like.

[0063] Specifically, please refer to Figure 5 , the movable wall 1221 includes a connecting end 12211 and a movable end 12212, the connecting end 12211 is connected with the outer peripheral wall 12, and the movable end 12212 can swing relative to the connecting wall along the inside-outside direction; in this way, when shooting is needed, the camera 3 can be driven to move from the first initial position along the inside-outside direction, and act on the movable wall 1221, so that the movable end 12212 of the movable wall 1221 swings outward from the second initial position, thereby forming the opening, and the camera 3 moves to the shooting position outside the accommodating cavity 13 through the opening to shoot; after the shooting device completes shooting, the camera 3 is driven to return inward to the initial position, and in the process, the movable end 12212 also swings inward to return to the second initial position, so as to avoid that the water in the tunnel 2000 enters the accommodating cavity 13 in a large amount through the movable wall 1221.

[0064] Further, the accommodating cavity 13 is also provided with a driving mechanism, and the camera 3 moves along the inside-outside direction through the driving mechanism. Specifically, the driving mechanism includes an electric jack, the electric jack includes a top cover and a motor, the top cover is fixedly connected with the camera 3, the motor is drivingly connected with the top cover, and is used for driving the top cover to move along the inside-outside direction, the controller is electrically connected with the motor, so as to control the working state of the motor, and also can adjust the output power of the motor, so as to control the moving speed of the camera 3, and meet the shooting requirements of the camera 3 under different conditions.

[0065] Further, when the camera 3 completes the shooting task, and returns to the initial position from the shooting position, the movable wall 1221 resets with the camera 3, so as to avoid too much water entering the accommodating cavity 13. Thus, in order to reset the movable wall 1221, the movable wall 1221 can be an elastic movable wall 1221, which can reset under the action of elastic force. Of course, the movable wall 1221 can also be made of aluminum or other materials with small elasticity, so that the driving mechanism further comprises a spring, which is arranged in the accommodating cavity 13 and corresponds to the movable wall 1221. The spring extends in the inward and outward directions, one end of the spring is fixedly connected with the outer wall 12, and the other end is fixedly connected with the movable end 12212. Thus, during the return of the camera 3, the spring is gradually compressed by the elastic reaction force generated by the gradually decreasing force applied by the camera 3, so as to drive the movable end 12212 of the movable wall 1221 to swing, and reset the movable wall 1221. The structure is simple, and the cost is low.

[0066] It should be noted that the number of movable walls 1221 arranged in each second detection area 122 is not limited. In each second detection area 122, one movable wall 1221 can be arranged, two movable walls 1221 can be arranged, or even three, four or the like. Further, when one movable wall 1221 is arranged, a gap exists between the movable end 12212 and the outer wall 12 in the second initial position. When two or more movable walls 1221 are arranged, gaps exist between the movable ends 12212 in the second initial position. The water in the tunnel 2000 can enter the accommodating cavity 13 through the gaps. Therefore, in order to reduce the water inflow of the accommodating cavity 13, the movable end 12212 is provided with a rubber sealing strip. By arranging the rubber sealing strip, the gap is reduced, and the water inflow is reduced.

[0067] Specifically, in the present application, the number of water pressure sensors 2 and cameras 3 arranged is not limited. More specifically, please refer to Figure 3In an embodiment of the present application, the first detection area 121 and the second detection area 122 are respectively provided with two, the two first detection areas 121 and the two second detection areas 122 are distributed along the circumference of the rod body 1, and the two first detection areas 121 are distributed along a first direction, and the two second detection areas 122 are distributed along a second direction; the water pressure sensor 2 is provided with two, and the two water pressure sensors 2 are arranged one by one with the two first detection areas 121; the camera 3 is provided with two, and the two cameras 3 are arranged one by one with the two second detection areas 122; the first direction and the second direction are perpendicular in the plane; in this way, the surveying range can be expanded, the accuracy of the surveying result can be improved, the surveying demand can be met, and meanwhile, the number of openings of the outer peripheral wall 12 can be reduced, and the strength of the rod body 1 can be reduced.

[0068] It should be noted that the drilling tool 1000 adopts the drill pipe while drilling 100 as described above, that is, the drilling tool 1000 has all the technical features of all the embodiments of the drill pipe while drilling 100 described above, and thus has all the technical effects brought by all the technical features described above, which will not be repeated here.

[0069] The present application also provides a tunnel geological advanced detection method, which adopts the drilling tool described above, please refer to Figure 6 , the tunnel geological advanced detection method comprises:

[0070] Step S100, drill the drill bit and part of the drill pipe while drilling of the drilling tool into the working face, so that the first detection area and the second detection area of the drill pipe while drilling are located in the water-bearing area in the tunnel;

[0071] Step S200, detecting the water pressure of the water-bearing area by the water pressure sensor located in the first detection area to obtain the water pressure information of the tunnel;

[0072] Step S300, driving the camera located in the second detection area to move from the rod body of the drill pipe while drilling to the outside of the rod body to take pictures to obtain the image information of the internal environment of the tunnel.

[0073] In this way, by combining two kinds of surveying methods, the water pressure information detected by the water pressure sensor and the image information of the camera are used to obtain the geological conditions in the tunnel, the detection efficiency is high, and the operation is simple.

[0074] It should be noted that in the present application, the order of the step S200 and the step S300 is not limited, which can be performed in sequence or simultaneously.

[0075] Further, after the step S300, it further comprises:

[0076] Step S400, after the camera completes shooting, the camera outside the rod body is driven to return to the rod body.

[0077] The above only describes the preferred embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like, which is made based on the content of the present application specification and drawings, falls within the patent protection scope of the present application.

Claims

1. A drill pipe for use in tunneling operations for advanced geological detection, characterized in that, The drill pipe comprises: a rod body having an inner peripheral wall and an outer peripheral wall, a receiving cavity being formed between the inner peripheral wall and the outer peripheral wall, the outer peripheral wall being provided with a first detection area and a second detection area, the first detection area being provided with a detection port, and the second detection area comprising a movable wall movable in an inner-outer direction relative to the rod body; a water pressure sensor provided in the receiving cavity and located at the detection port, the water pressure sensor being adapted to the detection port and used for detecting water pressure in a tunnel; and a camera provided in the receiving cavity and corresponding to the movable wall, the camera being movable in the inner-outer direction to act on the movable wall and move in and out of the receiving cavity, and used for shooting an environment in the tunnel when moved out of the receiving cavity. The drill pipe further comprises a controller electrically connected to the water pressure sensor and the camera, respectively, and used for receiving water pressure information generated by the water pressure sensor and image information generated by the camera. The rod body has a detection end and a control end along a direction of extension thereof, the detection end being used for being arranged close to a drill bit, the water pressure sensor and the camera being arranged at the detection end, and the controller being arranged at the control end. The controller is electrically connected to the water pressure sensor and the camera through wires, and insulating tape is arranged at joints of the wires. A detection net is arranged at the detection port, the detection net having a plurality of detection holes, and each of the detection holes has a diameter less than or equal to 8 mm. A water baffle is arranged in the receiving cavity, the water baffle being located between the detection end and the control end and extending along a circumferential direction of the rod body. The water baffle is provided with a wire passing hole for the wires to pass through, and a rubber pad is arranged between the wire passing hole and the wires.

2. The drill pipe while drilling as claimed in claim 1, wherein, The movable wall comprises: a connecting end connected to the outer peripheral wall; and a movable end swingable in the inner-outer direction relative to the connecting wall. The receiving cavity is further provided with a driving mechanism, the driving mechanism comprising: an electric jack comprising a cap and a motor, the cap being fixedly connected to the camera, the motor being drivingly connected to the cap and used for driving the cap to move in the inner-outer direction, and the controller being electrically connected to the motor; and a spring arranged in the receiving cavity and corresponding to the movable wall, the spring extending in the inner-outer direction, one end of the spring being fixedly connected to the outer peripheral wall, and the other end of the spring being fixedly connected to the movable end.

3. The drill pipe while drilling as claimed in claim 1, wherein, The first detection area and the second detection area are arranged in two, the two first detection areas being arranged in a first direction, and the two second detection areas being arranged in a second direction. The water pressure sensor is arranged in two, and the two water pressure sensors are arranged corresponding to the two first detection areas. The camera is arranged in two, and the two cameras are arranged corresponding to the two second detection areas. The first direction and the second direction are perpendicular to each other in a plane.

4. A drill, characterized in that The drill pipe comprises: a drill bit having a head end and a tail end; and The drill pipe of any one of claims 1-3, which is connected to a tail end of the drill head.

5. A method of advanced detection of geological conditions of a tunnel, using a drilling tool as claimed in claim 4, characterized in that, The tunnel geological advance detection method comprises: A drill head and part of a drill pipe of a drilling tool are drilled into a working face, so that a first detection zone and a second detection zone of the drill pipe are located in a water-bearing zone in the tunnel; The water pressure of the water-bearing zone is detected by a water pressure sensor of the drill pipe, so as to obtain water pressure information of the tunnel; A camera in the drill pipe is driven to move from inside the pipe body to outside the pipe body to take pictures, so as to obtain image information of an internal environment of the tunnel.

Images