54 results about "Pilot" patented technology

The invention discloses a group train tracking operation optimization method considering communication delay. The method comprises the following steps: establishing a heavy haul railway train group of a'navigation-front train following 'topological structure; a multi-target optimization model is constructed according to the characteristic constraint, the speed limitation and the safety distance constraint of the vehicle; generating a random communication delay in the model, calculating a time step number corresponding to the delay, and making a control decision on the following train based on state information of a previous time step of the preceding train; and solving the running speed of the following train in the multi-objective optimization model based on a particle swarm algorithm. According to the group train tracking operation optimization method, the problems of uncertainty and dynamic response lag caused by communication delay in the tracking operation process of heavy haul railway group trains are effectively solved, the tracking error between the trains can be remarkably reduced, the speed synchronism is improved, and the tracking operation efficiency is improved. And the distance fluctuation in the acceleration and deceleration stages can be effectively reduced, so that the train distance stability is ensured.

The invention discloses a multi-circle combined jacking pipe and a connecting and locking device thereof, and relates to the technical field of jacking pipe structures, the connecting and locking device comprises a connecting shell and a connecting assembly, the connecting shell extends in the extending direction of a pipe jacking machine, and a limiting groove is formed between the connecting shell and the outer wall of the pipe jacking machine; the connecting assembly comprises a connecting rod, an inserting rod, a connecting pivot, a locking piece and a telescopic driving structure, one end of the inserting rod is matched with the limiting groove in an inserting mode, the other end of the inserting rod extends out of the limiting groove and is hinged to the connecting rod through the connecting pivot, and the end, away from the inserting rod, of the connecting rod is hinged to the side wall of the pilot pipe through a hinge shaft; the telescopic driving structure is connected to the middle of the connecting rod and can drive the connecting rod to rotate around the hinge shaft, and the locking piece can lock or unlock the connecting pivot, so that the inserting rod can be fixed or rotate relative to the connecting rod, multi-angle connection between the pilot pipe and the pipe jacking machine can be adapted, and the adjusting efficiency of the connecting posture of the pilot pipe and the pipe jacking machine is improved; and the connection precision and the connection reliability are improved.

The utility model provides a hydraulic control system capable of preventing grounding damage and a material grabbing machine, and belongs to the technical field of excavators. In the hydraulic control system capable of preventing grounding damage, a control oil way used for supplying oil to a movable arm main valve to control lifting of a movable arm is connected between a movable arm handle and the movable arm main valve, and a grounding damage prevention oil way is connected between a pilot pump and the control oil way or between the pilot pump and the movable arm main valve. The hydraulic control system capable of preventing grounding damage has a normal working state and a grounding-preventing working state. The material grabbing machine comprises a material grabbing machine body and a hydraulic control system capable of preventing grounding damage. According to the utility model, through the arrangement of the anti-grounding-damage oil way and the combined use of the valves, in the bottom cleaning operation process, under the condition that the auxiliary tool is grounded and generates larger acting force on the cabin bottom or the carriage bottom, oil is directly supplied to the movable arm main valve by utilizing the anti-grounding-damage oil way; the movable arm can be automatically lifted under the condition that manual operation is not needed, and a cabin or the bottom of a train box is prevented from being damaged.

Damping device for railway vehicle, railway vehicle and associated control method This damping device (100) for railway vehicle (2) includes lateral dampers (102), each configured to connect the body (20) to a respective bogie (30), the lateral dampers (102) being semi-active dampers and each being controlled by a respective solenoid valve (108), two first accelerometers (110), configured to be fixed to the body (20) in the vicinity of a respective bogie (30), and an electronic control unit (104), which detects kinematic instability based on received acceleration measurements and which controls each lateral damper by controlling the corresponding solenoid valve.The electronic control unit is switchable between a comfort mode, where each solenoid valve is controlled with a frequency above 100 Hz to optimize passenger comfort, with the force generated by the associated lateral damper reaching a first threshold, and a refuge mode, where each solenoid valve is controlled with a refresh rate below 1 Hz to develop a damping force up to a second threshold, which is at least 40% higher than the first threshold. The electronic control unit is configured to switch from comfort mode to refuge mode when kinematic instability is detected. Figure for the summary: none.

An apparatus for centering a pilot tool within a valve guide during valve seat cutting is disclosed. The apparatus includes a pilot tool and an adapter. The pilot tool includes a shank, and an extended section extending from the shank. The extended section includes an upper section and a lower section. The upper section extends from the shank, and the lower section extends from the upper section. The upper section includes a tapered section, and the lower section includes a straight section. The adapter receives the shank. In one embodiment, the upper section engages with the valve guide to operate the pilot tool as a fixed pilot to center within the valve guide. In another embodiment, the lower section operatively contacts the valve guide. The adapter rotates causing the lower section to rotate within the valve guide, and operate the pilot tool as a live pilot for centering within the valve guide.

The present invention relates to the technical field of operating handles, and specifically discloses a loader operation control handle, which includes a base. A fixed rod is fixedly connected to the middle part of the top of the base. A round bead is rotatably connected to the top of the fixed rod. A small rod is fixedly connected to the top of the round bead. A pressing plate is fixedly connected to the top of the small rod. A square frame is fixedly connected to the middle part of the top of the pressing plate. A hand-held rod is fixedly connected to the top of the square frame. Touching parts are arranged around the top of the base, and a limiting component is arranged above the base. Through the cooperation of the above structures, it can limit the hand-held rod, avoid misoperation and cause incorrect actions of the loader. Moreover, when the ejector rod presses against the inner wall of the slideway, it can play a role in limiting. The friction between the ejector rod and the slideway offsets part of the elastic force of the spring in the touching part, so that when operating the pilot handle, the pressure on the operator's hand is reduced, the operator is not easily fatigued under long-term work, and the work efficiency is improved.

A system for controlling a locomotive includes a display device and a controller. The display device is configured to receive a braking information to halt the locomotive from a back-office and display a notification regarding the braking information. The controller is configured to receive the braking information from the back-office to halt the locomotive, determine if a pilot present in the locomotive has any one of responded to the notification displayed on the display device within a predetermined time duration and accepted transmission of an intended braking command, by the controller, to a braking system of the locomotive to halt the locomotive, and transmit a braking command to the braking system of the locomotive to halt the locomotive if the pilot has any one of not responded to the notification within the predetermined time duration and accepted transmission of the intended braking command to the braking system.

The utility model discloses an explosion-proof electromagnetic valve which comprises a first valve body, a second valve body, a coil assembly and a pilot seat, a coil body, a supporting frame, a movable iron core assembly and a static iron core assembly are located in a shell, the coil body is arranged on the peripheral side of the supporting frame in a sleeved mode, and the pilot seat is arranged on the movable iron core assembly. The movable iron core assembly and the static iron core assembly are located in the supporting frame, the movable iron core assembly is located below the static iron core assembly, the movable iron core assembly comprises a movable iron core body and a driving spring, an inlet and outlet is formed in the pilot seat, a sliding groove is formed in the lower end of the movable iron core body, a spring assembly is arranged in the sliding groove, and the spring assembly is located in the sliding groove. A sealing block is arranged at the lower end of the sliding groove and corresponds to the inlet and outlet, and the lower end of the spring assembly abuts against the side wall of the sealing block. The movable iron core has the effect of reducing the abrasion efficiency between the movable iron core body and the inlet / outlet of the pilot seat.

This application provides a GNSS-based intelligent early warning control system, method, and storage medium for construction machinery operating near a railway line, relating to the field of obstacle avoidance technology for construction machinery. The method includes: acquiring three-dimensional coordinate information of the construction machinery body and dynamic end-effector's working point using at least one main GNSS positioning module and at least one secondary GNSS positioning module, respectively; combining this with pose sensing information collected by a pose sensor and preset machinery size parameters; accurately determining the three-dimensional spatial outer contour boundary of the construction machinery; and achieving comprehensive perception of the overall spatial position of the construction machinery. By determining the first minimum spatial distance between the three-dimensional spatial outer contour boundary and the warning fence, and the second minimum spatial distance with the parking fence, hierarchical early warning control is achieved. When preset locking conditions are met, a control level is automatically output, and the connection between the pilot solenoid valve circuit and the pilot oil circuit and the hydraulic system is cut off through the active parking control circuit, forcing the construction machinery into a locked-down state.

The application discloses a pantograph interlocking control device and control method for track traffic maintenance, which comprises an interlocking mechanism, an interlocking sliding block, a first switch, a second switch and a pilot double control electromagnetic valve, the pilot double control electromagnetic valve is arranged on a high-pressure air path of a locomotive, and the first switch and the second switch are respectively used for controlling the power-on state of the two ends of the pilot double control electromagnetic valve; the interlocking mechanism comprises a panel and two interlocking holes arranged on the panel, the locking tongues in the two interlocking holes are connected with the interlocking sliding block, and any locking tongue is rotated to drive the interlocking sliding block to slide horizontally, and then the interlocking sliding block synchronously drives the other locking tongue to rotate, the interlocking sliding block is provided with a first trigger sliding block and a second trigger sliding block, and the first trigger sliding block and the second trigger sliding block are respectively used for triggering the first switch and the second switch. The application can realize the interlocking protection function of the lifting of the pantograph of the track locomotive, and has the characteristics of simple operation and long service life.

The invention discloses an unloading method and system of an unmanned mine car, belongs to the field of mechanical engineering, and aims to solve the problem of unloading control of the unmanned mine car. The lifting angle data of the container, the weight of the container, the posture of the vehicle, the pressure data of a suspension oil cylinder and the unloading environment data are obtained; adjusting the pilot current according to a comparison result of a preset angle threshold value and the cargo box lifting angle data so as to control the cargo box lifting speed; according to a comparison result of a preset weight threshold value and the weight of the container, it is confirmed that unloading is completed; and according to the unloading environment data or the comparison result of the vehicle posture limiting value and the vehicle posture or the comparison result of the preset suspension pressure threshold value and the suspension oil cylinder pressure data, a lifting or descending pause instruction is generated. The lifting speed and the emergency state of the container during unloading can be dynamically controlled in combination with the limiting values, and the safety of equipment and personnel is ensured.

1. The name of the design product: switchable positive and negative hand handle valve. 2. The use of the design product: control of the pilot system of excavators and other engineering machinery, mainly controlling the spool action of the main control valve. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: front view.

1. The name of the design product: skid steer loader (660 crawler self-leveling pilot extended type). 2. The use of the design product: for skid steer loader. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The invention belongs to the technical field of metal plastic processing, and relates to a multifunctional rolling mill which comprises a rack. The four-roller system is composed of a pair of leveling rollers and a pair of common supporting rollers. The six-roller system is composed of a pair of working rollers, a pair of middle rollers and a pair of common supporting rollers. The roll changing device is arranged on one side of the bottom of the rack and used for supporting free switching of the four-roll roll system and the six-roll roll system in the rack; wherein the sum of the diameter of a middle roller and the diameter of a working roller in the six-roller system is equal to the diameter of a leveling roller in the four-roller system, and a bearing seat of the middle roller, a bearing seat of the working roller and a bearing seat of the leveling roller are designed to be equal in width, so that free switching of the four-roller system and the six-roller system in the rack is achieved. Through the unique double-roller system design and the efficient component sharing concept, free switching between a four-roller mode and a six-roller mode is achieved, the universality is greatly improved, and the device is particularly suitable for diversified scenes such as pilot tests.

The application discloses a multi-circle combined pipe and a connecting and locking device thereof, relates to the technical field of pipe structure, and the connecting and locking device comprises a connecting shell and a connecting assembly. The connecting shell extends along the extension direction of a pipe jacking machine, and a limiting groove is formed between the connecting shell and the outer wall of the pipe jacking machine. The connecting assembly comprises a connecting rod, a plug-in rod, a connecting pivot, a locking piece and a telescopic driving structure. One end of the plug-in rod is in plug-in cooperation with the limiting groove, the other end of the plug-in rod extends out of the limiting groove and is hinged to the connecting rod through the connecting pivot. The end of the connecting rod away from the plug-in rod is hinged to the side wall of a pilot pipe through a hinge shaft. The telescopic driving structure is connected to the middle part of the connecting rod. The telescopic driving structure can drive the connecting rod to rotate around the hinge shaft. The locking piece can lock or unlock the connecting pivot, so that the plug-in rod can be fixed or rotated relative to the connecting rod. The multi-angle connection between the pilot pipe and the pipe jacking machine can be adapted, the adjustment efficiency of the connection posture of the pilot pipe and the pipe jacking machine is improved, and the connection precision and the connection reliability are improved.

Provided is an emergency high-pressure pilot-operated check valve. A return bolt and an emergency bolt are horizontally bolted and installed at the upper and lower parts of the vertical fluid passage Ⅰ of the "T"-shaped fluid passage of the valve body respectively. The return bolt and the emergency bolt are respectively provided with water fluid passages Ⅱ and Ⅲ. The fluid passages Ⅱ and Ⅲ are communicated with the fluid passage Ⅰ. The change of the horizontal bolting depth positions of the return bolt and the emergency bolt relative to the valve body is used to adjust the diameter flow velocity at the connection of the fluid passages Ⅱ, Ⅲ and Ⅰ. A piston assembly is installed in the fluid passage Ⅰ. One end of the piston assembly is communicated with the fluid passage Ⅱ, and the other end is truncated or conducted to communicate with the fluid passage Ⅲ through a ball Ⅰ and a spring. A ball Ⅱ for manual pressure relief and an adjusting bolt are also installed in the fluid passage Ⅲ. The structure of the present invention is compact and small in size; it is mainly used for railway recovery equipment; the hydraulic oil control operation is stable, safe and reliable; it has a manual emergency release and reset function; it has a function of adapting to and adjusting the speed of the oil cylinder extending and retracting; it is convenient for installation and debugging; it is economical and practical and worthy of promotion.

The application discloses a locomotive brake power module safety guiding control system and method, and belongs to the technical field of railway locomotive brakes. The system comprises a control module and a power module, and the control module is used to output control instructions for the locomotive brake. The power module comprises a first 24V power module, a second 24V power module, a 5V power module and a voltage detection circuit. The input ends of the first 24V power module and the second 24V power module are connected with an external power supply, the input end of the 5V power module is connected with the output end of the second 24V power module, and the output end of the 5V power module is connected with the control module to provide working power. The voltage detection circuit is arranged at the output end of the first 24V power module to detect the voltage value of the first 24V power module, and the voltage detection circuit is connected with the control module to output the voltage value of the first 24V power module to the control module. The locomotive brake power module safety guiding control system and method provided by the application can trigger the punishment braking of the brake when the power module fails.

The embodiment of the application provides a control method and a control device for a excavator, a processor and the excavator, and belongs to the field of engineering machinery. The excavator comprises a control mechanism, a bucket rod and a bucket rod retracting electromagnetic valve. The control method for the excavator comprises the following steps: acquiring a pilot pressure of the control mechanism and a bucket rod large cavity oil inlet pressure of the bucket rod; determining a target action type of the excavator according to the pilot pressure and the bucket rod large cavity oil inlet pressure, wherein the target action type comprises a far-end grading action and a non-far-end grading action; determining a target control current of the bucket rod retracting electromagnetic valve according to the target action type and the pilot pressure; and controlling the bucket rod retracting electromagnetic valve to work according to the target control current. The embodiment of the application can optimize the grading performance of the excavator.

A system (200) for controlling a locomotive (102) includes a display device (206) and a controller (204). The display device (206) is configured to receive a braking information (I2) to halt the locomotive (102) from a back-office (116) and display a notification (N1) regarding the braking information (I2). The controller (204) is configured to receive the braking information (I2) from the back-office (116) to halt the locomotive (102), determine if a pilot (124) present in the locomotive (102) has any one of responded to the notification (N1) displayed on the display device (206) within a predetermined time duration and accepted transmission of an intended braking command, by the controller (204), to a braking system (112) of the locomotive (102) to halt the locomotive (102), and transmit a braking command (C1) to the braking system (112) of the locomotive (102) to halt the locomotive (102) if the pilot (124) has any one of not responded to the notification (N1) within the predetermined time duration and accepted transmission of the intended braking command to the braking system (112).

The utility model belongs to the technical field of heading machine control, and provides a heading machine capable of standing to control four-way pilot handles, which is characterized by comprising a heading machine body, a first four-way pilot handle and a second four-way pilot handle are arranged on the heading machine body, and the first four-way pilot handle is arranged on a handle connecting frame on a seat box operating table. The second four-way pilot handle is arranged on a cover plate of the heading machine or a handle vertical frame on the cover plate; the first four-way pilot handle and the second four-way pilot handle are both provided with oil ways through a multi-way valve in the operation table. The standing and sitting dual-purpose heading machine is simple in structure, reasonable in design, convenient and practical, and can be used for standing and sitting, and the four-way pilot handle is easily controlled to control rotation lifting of the heading machine.

The application discloses a hydraulic system and method based on large engineering machinery escalator lifting control, and belongs to the technical field of engineering machinery equipment. An oil cylinder is hinged between the escalator and a working platform; a first power unit and a second power unit are connected to a first electromagnetic reversing valve; the first electromagnetic reversing valve is connected to a second electromagnetic reversing valve and a third check valve; one oil outlet of the second electromagnetic reversing valve is connected to a small cavity of the oil cylinder, and the other oil outlet is connected to the small cavity of the oil cylinder through a throttle valve; the third check valve is connected to a large cavity of the oil cylinder, and the third check valve is connected in parallel with a load holding valve; and a pilot control port of the load holding valve is connected to the small cavity of the oil cylinder. The hydraulic system can realize the control of the escalator without starting the host machine; the hydraulic system has relatively high power density, can reduce the space occupancy rate, and is convenient for arrangement, maintenance and installation; the hydraulic system is independent of the hydraulic system of the host machine, does not affect the flow demand of other system functions, and has excellent scalability.

The utility model provides a multifunctional stable winch hook guide rail system. The multifunctional stable capstan hook guide rail system comprises a storage buckle; the piloting groove is formed in the front face of the storage buckle, a movable opening is formed in the back face of the inner wall of the piloting groove, and a winch hook is arranged in the piloting groove; and the hanging opening is formed in the position, close to one end, of the top of the winch hook, a connector is fixedly connected to one side of the inner wall of the hanging opening, and a movable buckle is rotationally connected to the outer surface of the connector through an insertion bolt. According to the multifunctional stable capstan hook guide rail system, the capstan hook can not shake along with running of a vehicle after being stored through the structure, attractiveness is improved, noise is reduced, meanwhile, the capstan hook can be safely locked in a piloting groove through easy tightening of a winch, and compared with a traditional hook, the capstan hook is more convenient to use. The utility model provides a uniform and clean appearance, is matched with a trailer rope, and becomes an indispensable tool for rescue actions and heavy towing tasks.

The present invention discloses a method, system, and excavator for preventing air from being sucked into the bucket arm during excavator slewing. The method comprises: collecting pilot pressure values ​​for various excavator movements; determining the current excavator movement type based on the collected pilot pressure values; and controlling the opening of the bucket arm selector valve based on the current excavator movement type and the operating pressure of the hydraulic system. By controlling the opening of the bucket arm selector valve, the present invention can effectively prevent air from being sucked into the bucket arm during excavator slewing.

A system for controlling a locomotive includes a display device and a controller. The display device is configured to receive a braking information to halt the locomotive from a back-office and display a notification regarding the braking information. The controller is configured to receive the braking information from the back-office to halt the locomotive, determine if a pilot present in the locomotive has any one of responded to the notification displayed on the display device within a predetermined time duration and accepted transmission of an intended braking command, by the controller, to a braking system of the locomotive to halt the locomotive, and transmit a braking command to the braking system of the locomotive to halt the locomotive if the pilot has any one of not responded to the notification within the predetermined time duration and accepted transmission of the intended braking command to the braking system.

The invention discloses a train control operation method and system based on virtual marshalling, and relates to the technical field of rail transit control, and the method comprises the steps that a to-be-marshaled unit train transmits own vehicle data to a ground control system, virtual marshalling is carried out according to virtual marshalling information generated by the ground control system, and the train data is transmitted to a train control system; the pilot train generates different control strategies based on the information receiving time, the running condition and the running state of the following train, the following train runs under the minimum tracking distance range and the control strategy through a cooperative automatic driving system of the following train, and when marshalling is removed, marshalling is removed from the pilot train according to the sequence; therefore, safe cooperative operation of the trains is guaranteed, the train tracking interval is reduced to the maximum extent on the premise of safety, and the line transportation capacity is remarkably improved.

The invention relates to a mechanized construction method for an internal shaft cap. Firstly, a raise boring machine is used for constructing a well cap pilot tunnel to make a slag channel and a construction platform. And a stabilizer and a head sheave platform are installed in the elevator chamber and used for lifting the slip form. And a mixing station is arranged in the guide wheel layer chamber, and well cap construction between the guide wheel layer and the skip bucket unloading chamber is carried out. And then the mixing station is moved downwards to the skip bucket unloading chamber, and the well cap between the skip bucket unloading chamber and the slag turning chamber is constructed. And then a slag turning chamber is constructed to a well cap lower opening, a cage horse head door and an umbrella drill chamber, and a sinking head sheave platform and an upper-layer hanging scaffold of the sinking hanging scaffold are installed. And finally, the gangue turning platform is installed. According to the method, existing projects are fully utilized, and the blind shaft cap raise boring machine is matched with the slip-form layered digging and building construction method and permanent mechanical construction of shaft sinking and lifting facilities are achieved. The problems that the well cap is high in construction difficulty, many in measure engineering and low in construction efficiency are solved.

The application discloses a hydraulic energy-saving control method, a control system and a controller. The control method comprises the following steps: acquiring the opening and closing state of a pilot handle and the main pump pressure; judging whether the pilot handle is fully opened; in the case that the pilot handle is fully opened, determining the input power according to the relationship between the main pump pressure and a preset value; and performing volume speed regulation on the control system according to the input power, so as to change the working mode of the excavator; wherein the working mode comprises a first working mode, a second working mode and a third working mode. According to the application, the working mode of the excavator is adjusted according to the opening and closing state of the pilot handle and the pressure of the main pump, and the volume speed regulation is adopted, so that the working state of the excavator can be adjusted more accurately, and the working efficiency is improved.

The invention discloses a train head spacing optimization control method for following operation of virtual marshalling trains. Comprising the steps of obtaining and processing pilot train state data, constructing a variable universe fuzzy PID control algorithm based on virtual marshalling train following, designing an operation scene of a virtual marshalling train, processing the speed and displacement of virtual marshalling train algorithm following operation, evaluating optimization performance, and judging whether to end or not according to time step length. According to the method, the optimal safe train head distance between the trains can be calculated according to the real-time running state and the dispatching requirement of the trains, the train head distance in actual running is dynamically adjusted, and then the running safety and running efficiency of the trains are improved.

The invention discloses an electromagnetic valve assembly, a breathing port assembly and an integrated electromagnetic valve assembly system, and belongs to the field of railway wagon air control valve tests. The electromagnetic valve assembly comprises an electromagnetic valve and a main valve, a valve shaft of the main valve is arranged in a valve body in a sleeved mode, the end areas of the two ends of the valve shaft are different, and therefore a small shaft end air chamber and a large shaft end air chamber are formed on the two sides in the valve body respectively, and three working channels of the electromagnetic valve are communicated with the small shaft end air chamber, the large shaft end air chamber and an atmosphere port respectively. A pilot air port of the main valve is communicated with a small shaft end air chamber and an electromagnetic valve working channel through an air channel, the isolating and communicating states of pressure air of the pilot air port at the two ends of the valve shaft are controlled through the electromagnetic valve, and pressure difference is generated on the valve shaft to push the valve shaft to reciprocate. Therefore, the at least two openings are isolated or communicated by the two concave parts with different lengths on the valve shaft.

The invention discloses a large inclined long pilot tunnel rail transportation system and method based on real-time safety monitoring. The system comprises a power device, a bogie, two steel rails laid in parallel at intervals in the inclination direction of a tunnel anchor hole, a transport flatcar arranged on the steel rails in the tunnel anchor hole, a traction rope and a safety monitoring unit used for evaluating the safety of the traction rope in real time. The safety monitoring unit comprises a lateral pressure type sensor, an all-magnetic technology monitoring device and monitoring equipment connected with the lateral pressure type sensor and the all-magnetic technology monitoring device; the lateral pressure type sensor monitors the tension of the traction rope in real time and transmits the tension to the monitoring equipment, and early warning is given out when the tension of the traction rope is abnormal; the health state of the traction rope is monitored in real time through the full-magnetic technology monitoring device and is transmitted to the monitoring equipment, so that the safe use of the traction rope is ensured; traction force is provided for the power device through the traction rope to drive the transport flatcar to move along the steel rails. And safe tunnel entering and efficient transportation of the splay cable saddle under the condition of a large inclined long pilot tunnel are achieved.