70 results about "Tunneling direction" patented technology

The invention discloses an intelligent monitoring method and system for a shield to pass through a bridge pile foundation, and belongs to the field of intelligent monitoring, and the method comprises the following steps: processing three-dimensional attitude data through a dynamic weighted Kalman filtering method, and obtaining a filtered attitude parameter sequence; estimating a dynamic deviation value of the shield tunneling machine based on the attitude parameter sequence, and outputting a quantitative evaluation result; performing space-time alignment on the inclination angle information and the attitude parameter sequence to obtain an aligned angle comparison data set; based on the angle comparison data set, a matching error vector between the posture of the shield tunneling machine and the inclination angle of the pile foundation is calculated, the error vector is optimized, and an optimized matching error index is obtained; fusing the attitude deviation value into the matching error index to generate a fused relative position relation matrix; based on the relative position relation matrix, the included angle deviation between the tunneling direction of the shield tunneling machine and the pile foundation axis is calculated, and a deviation adjusting signal is generated; and generating an attitude correction instruction sequence based on the deviation adjustment signal and the real-time construction parameters.

The invention discloses a roadway-side filling body and roof grouting collaborative roadway protection method, which comprises the following steps: drilling a fracture surrounding rock on one side of a goaf along the roadway direction to obtain a roof drill hole, arranging a roadway-side filling wall structure below the roof drill hole, filling gangue in the roof drill hole, and grouting the roof drill hole and the inside of the roadway-side filling wall structure respectively, after the slurry in the roadside filling wall body structure is solidified, a roadside filling body is formed, and finally the roadside filling wall body structure is dismantled, so that the supporting advantages of roof grouting and roadside filling are jointly exerted, roof damage caused by surrounding rock and water-rich rock strata is effectively controlled, the overall stability of a roadway is remarkably improved, and the construction cost is reduced. And disasters such as water inrush and roof caving of the roadway roof are prevented, and the method is suitable for supporting high-risk roadways in weak surrounding rock and water-rich areas.

The utility model provides an onboard temporary supporting device which comprises a supporting frame and supporting columns, the number of the supporting columns is two, the supporting columns are arranged on the two sides of a cutting arm of a heading machine respectively and rotationally connected with the cutting arm, and the ends, away from the heading machine, of the two supporting columns are rotationally connected with the supporting frame through two connecting bases respectively. Buffering assemblies are arranged on the two sides of the top face of the supporting frame respectively, a displacement assembly capable of moving in the tunneling direction of the tunneling machine is arranged at the front end of the supporting frame, and overturning assemblies allowing the supporting columns and the supporting frame to be overturned are arranged on the two supporting columns. The device is easy to operate and good in supporting effect, the buffering effect can be effectively achieved when coal mine rockfall occurs, and the service life of the supporting device can be effectively prolonged.

The utility model discloses a shield tunnel segment wall back grouting real-time detection device which is arranged at the shield tail of a shield tunneling machine, two construction platforms are symmetrically arranged in the shield tunneling machine, and the shield tunnel segment wall back grouting real-time detection device comprises an annular track which is movably installed between the two construction platforms in the tunneling direction of the shield tunneling machine. The circular track has an arc consistent with the radian of the outer wall of the duct piece; the sound wave detector is arranged on the outer side of the annular track in a reciprocating motion mode along the annular track, and the height of the sound wave detector can be adjusted in the radial direction of the duct piece; according to the grouting plumpness detection device, the grouting plumpness on a propagation path is reflected by utilizing the propagation speed of the sound waves in different media and the frequency change of the waves, the grouting plumpness can be detected in real time along with tunneling of a shield, and the grouting plumpness can be accurately detected. And a certain popularization value is achieved.

The utility model provides a grease pump supporting device for shield split launching. The grease pump supporting device comprises a first guide rail, a second guide rail and a trolley. Wherein the first guide rail and the second guide rail are detachably arranged on one side of the tunnel in the tunneling direction of the tunnel, and the height of the first guide rail is larger than that of the second guide rail; the trolley comprises a frame, at least one first walking wheel and at least one second walking wheel, the frame is connected with the shield main machine, the frame is provided with a first bearing face arranged in the horizontal direction, the first bearing face is used for arranging at least one grease pump, and the first walking wheel and the second walking wheel are arranged on the two sides of the frame respectively. The first walking wheel is in rolling connection with the first guide rail, and the second walking wheel is in rolling connection with the second guide rail. According to the grease pump supporting device for shield split starting, the problem that the length of a pipeline between the shield main machine and the grease pump is too large during split starting is solved, and stable grease injection pressure of the grease pump is achieved.

The application discloses a tunnel deformation monitoring device, which comprises four adsorption walking devices, a spherical hinge is connected to the upper side of each adsorption walking device, a plurality of supporting springs are fixedly connected to the outer circumferential surface of the support rod in an annular array, the lower ends of the supporting springs are fixedly connected to the upper side of the adsorption walking device, a guide rail ring is connected to the upper side of the support rod, a sliding seat is slidably connected to the guide rail ring, a range finder is arranged on the sliding seat, the range finder is a laser range finder, and a touch device is arranged on the sliding seat. When one of the adsorption walking devices loses the adsorption effect, the remaining three adsorption walking devices determine a plane as a reference, and the measurement is sequentially monitored, so that the measurement deviation caused by the adsorption effect of the measurement position is reduced, the measurement position can be randomly selected along the tunnel direction, and the total station and a large number of monitoring markers need not be frequently erected and moved, so that the monitoring is convenient and fast.

The application provides a tunnel anchor machine and relates to the technical field of tunnel anchor machine equipment. The tunnel anchor machine comprises an upper body of the tunnel anchor machine and a lower body of the tunnel anchor machine, the lower end of the upper body of the tunnel anchor machine is provided with a self-lubricating part, the lower body of the tunnel anchor machine is provided with a connecting shaft, the length direction of the connecting shaft is used for being consistent with the tunneling direction of the tunnel anchor machine, one end of the connecting shaft is arranged on the lower body of the tunnel anchor machine, the other end penetrates through the self-lubricating part and is in sliding connection with the self-lubricating part, and the self-lubricating part slides on the connecting shaft through an oil cylinder. In this way, the sliding connection between the self-lubricating part and the connecting shaft realizes the movement of the upper body of the tunnel anchor machine relative to the lower body of the tunnel anchor machine, so that the tunnel anchor machine can realize the fixed-point cutting operation and has the functions of cutting compensation and section shaping, thereby avoiding the movement of the whole tunnel anchor machine and improving the tunneling efficiency.

The invention discloses a shield construction management and control method and system based on a digital twin platform, and the method comprises the steps: obtaining geological data and shield tunneling machine data, and constructing a twin finite element model corresponding to a target shield interval tunnel according to the geological data and the shield tunneling machine data; shield tunneling machine excavation simulation calculation is conducted on the twinborn finite element model, and the twinborn finite element model is divided into a plurality of sub-models according to the daily planned tunneling amount after calculation is completed; the width of the sub-model in the tunneling direction is the daily planned tunneling amount; according to a simulation calculation result of the twinborn finite element model, constructing a boundary condition of each sub-model to form a plurality of twinborn sub-models; and managing and controlling the process of tunneling the target shield interval tunnel by the shield tunneling machine through the plurality of twin sub-models. According to the method, the data of the previous round of construction are accurately fed back to the calculation of the next round in a segmented calculation mode, so that the accuracy of model simulation is effectively improved, and the prediction of the risk of the next round of shield construction is improved.

The embodiment of the invention provides a walking type heading machine and a control method, and relates to the technical field of heading equipment. The walking type heading machine comprises a main machine. The main beam is connected with the main machine; the first propelling supporting structure and the second propelling supporting structure each comprise a plurality of propelling supporting assemblies, and the propelling supporting assemblies of the first propelling supporting structure and the second propelling supporting structure are alternately arranged in the circumferential direction of the main beam. Each propelling and supporting assembly comprises a propelling part and a supporting shoe set, the supporting shoe sets move relative to the main beam so as to be tightly supported on the surrounding rock, and the propelling parts are used for providing tunneling thrust for the main beam when the supporting shoe sets are tightly supported on the surrounding rock; the propelling supporting assemblies of the first propelling supporting structure and the second propelling supporting structure are configured to be alternately supported on surrounding rock in the tunneling moving direction of the main beam and provide tunneling thrust for the main beam, step changing operation is carried out in the tunneling process, the tunneling action does not need to be stopped, it is ensured that the tunneling thrust is continuously output to the main beam, and continuous tunneling operation is achieved.

The application provides a tunneling angle positioning system and device, comprising a tunneling equipment positioning system, a ground equipment positioning system and a mine roof equipment positioning system; the tunneling equipment positioning system is used for adjusting the tunneling direction of the tunneling equipment during tunneling; the ground equipment positioning system is used for positioning adjustment of the mine tunnel ground during tunneling and signal transmission of the tunneling equipment positioning system; and the mine roof equipment positioning system is used for signal transmission of the tunneling equipment positioning device and the ground positioning device when the mine roof is placed. The application has the beneficial effect that through cooperation among the tunneling equipment positioning system, the ground equipment positioning system and the mine roof equipment positioning system, and through positioning cooperation on the ground and the mine tunnel during tunneling, the tunneling process can be performed in multiple directions at any time through the positioning system, and deviation in the tunneling process can be avoided.

The utility model relates to the technical field of tunneling equipment with a drilling or cutting tool, in particular to a tunneling machine. The tunneling machine comprises a shield body and an excavation device mounted in the shield body, the excavation device comprises a cantilever mechanism and a rotary seat, a mounting base body for the rotary seat to be rotatably mounted along a rotary axis extending in the tunneling direction is arranged in the shield body, and a rotary driving mechanism for driving the rotary seat to rotate is arranged in the shield body; one end of the cantilever mechanism is hinged to the rotary seat and is provided with a swing arm driving mechanism used for driving the cantilever mechanism to swing relative to the rotary seat, and the other end of the cantilever mechanism is provided with a rock breaking head, and the rotary driving mechanism drives the rotary seat to rotate to be matched with the swing arm driving mechanism to drive the cantilever mechanism to swing relative to the rotary seat; the installation structure of the movement mechanism can be simplified while the excavation range of the excavation device is guaranteed, and cost reduction is facilitated.

This invention discloses a method and system for calculating the lateral displacement of an adjacent tunnel caused by bottom heave during foundation pit excavation. The method first calculates the lateral displacement of the soil at any depth at the retaining structure caused by the unloading of the bottom heave, and then, based on the deformation coordination between the soil and the retaining structure, converts it into an equivalent displacement S of the retaining structure. z (z); then, based on the displacement S of the enclosure structure z (z) and the maximum displacement value S reached in the active state a The ratio η is used to obtain the cohesion utilization value, and from this, the non-limit active earth pressure p is obtained based on the theory of non-limit active earth pressure. a Thus, the horizontal unloading stress p1 is obtained, and finally, the additional horizontal stress σ in the tunnel direction is obtained. y Ultimately, the additional horizontal stress σ in the tunnel is... y The load P(x) is obtained, and the governing equation for the tunnel's lateral displacement ω(x) is derived based on the coordination between soil and tunnel displacement. This equation is then expressed in matrix form to calculate the tunnel's lateral displacement ω(x). This calculation method allows for a more accurate assessment of the impact of foundation pit construction on the tunnel structure in practice, providing guidance for foundation pit design and construction.

A kind of shield guiding system based on single-axis rotation inertial navigation and total station, comprising: shield machine shield first face tunneling direction;Inertial navigation measurement shield machine's attitude information, control box is connected with inertial navigation by cable, for transmitting the attitude information of inertial navigation to industrial computer through control box;Rear end prism is installed on the tunnel wall, total station is installed between inertial navigation and rear end prism, and the coordinate information of inertial navigation under total station coordinate system is measured by aiming at prism;Data exchange is carried out between radio and total station according to internal protocol, and the data of total station is sent to industrial computer;Industrial computer is connected with radio and control box by cable, and based on the measurement information of collected inertial navigation, total station carries out coordinate transformation, calculates the deviation of reference point and design standard route of shield machine, and the trend of shield machine excavation.The present application has high real-time measurement, strong environmental adaptability and better maintainability.

The invention relates to the technical field of coal mine intelligent tunneling, and discloses an intelligent automatic coal digging tunneling guiding and deviation rectifying device which comprises a rack fixedly connected to a machine body of a tunneling machine through bolts; a bevel gear differential mechanism deviation rectifying mechanism comprises a differential mechanism shell, a driving bevel gear, a driven bevel gear, two half-shaft bevel gears and two planet bevel gears. The eccentric detection wheel set comprises two detection wheels, a connecting cross beam, an eccentric measuring rod, a brake control pull rod and a pendulum bob; the differential control mechanism comprises two brake drums, two brake belts and a bidirectional control cam; the output synthesis mechanism comprises two bevel gears and an intermediate shaft, the two bevel gears are connected to the outer ends of the two output shafts through bevel gear transmission mechanisms respectively, and the intermediate shaft is supported in a bearing seat of the rack through a bearing; according to the invention, automatic deviation correction control of the tunneling direction is realized, the problem of failure of the laser orientation instrument in a dust environment is solved, the problem of high energy consumption is solved, and automatic adjustment of the tunneling direction is realized.

The tunnel boring machine has a sealing device (212) having a first inner chamber (369) and a second inner chamber (372) to which lubricant can be applied via a fluid supply device. The pressure in the first inner chamber (369) can be regulated via the fluid supply device such that the pressure is between the pressure in the head chamber (306) located in front of the first inner chamber (369) along the tunneling direction and the pressure in the second inner chamber (372) located behind the first inner chamber (369) along the tunneling direction. Therefore, for environmental protection reasons, lossless lubrication can be achieved, and mixing of the lubricant in the first inner chamber (369) with other substances in the head chamber (306) is avoided.

The invention belongs to the technical field of tunnel construction, and particularly relates to a laser-controlled tunnel back break directional guiding device and a using method.The laser-controlled tunnel back break directional guiding device comprises an electric telescopic rod, the outer surface of the lower end of the electric telescopic rod is fixedly connected with a fixing ring, the upper end of the electric telescopic rod is rotationally connected with a base, and a positioning plate is arranged below the base; the outer side face of the positioning plate is rotationally connected with connecting rods in an array mode. According to the guiding device, through cooperative work of the high-precision angle encoder integrated by the total station and the horizontally-arranged laser range finder, annular scanning and data collection of the tunnel face can be rapidly completed, an actual form digital model is constructed through coordinate conversion operation of the controller, the efficiency of data collection and deviation judgment is greatly improved, and the working efficiency is improved. In addition, the design contour and the deviation area can be visually presented through laser projection, constructors are helped to accurately control the tunneling direction, overexcavation waste and undercut rework are effectively reduced, the construction cost is reduced, and the tunnel construction quality and progress are improved.

The invention disclosed herein relates to a module (10) for a humidifier (50) of a fuel cell system (100), wherein a dry side (11) has a tunnel structure (14, 15) for guiding a dry gas in a tunnel direction (T1) through the module (10), wherein a moist side (12) has a plate-shaped guide structure (16), wherein the guide structure (16) has a series of adjacent inlet holes (19) for guiding the moist gas into the module (10) and a series of adjacent outlet holes (20) for guiding the moist gas out of the module (10), wherein the guide structure (16) has upper guide ribs (21) arranged adjacent to one another and lower guide ribs (22) arranged adjacent to one another for guiding the moist gas in a guide direction (L1) from the inlet holes (19) to the has outlet holes (20),wherein the upper guide ribs (21) are spaced apart from and positioned above the lower guide ribs (22), and wherein the tunnel structure (14, 15) extends in the tunnel direction (T1) transversely to the guide direction (L1) and is positioned between the superimposed upper guide ribs (21) and lower guide ribs (22). The invention further relates to a plate half (23, 24) and a method for manufacturing the module (10) as well as a humidifier (50) with several modules (10).

A TBM synchronous lining inverted arch trestle and a construction method thereof, relate to the technical field of tunnel construction, and comprise a first trestle, a second trestle, a third trestle, a fourth trestle and a pouring system, the first trestle is provided with a first walking device, and the front end of the first trestle is used for lapping on a segment; the second trestle is provided with a second walking device, and the front end of the second trestle is lapped on the rear end of the first trestle; the third trestle is provided with a third walking device, the front end of the third trestle is lapped on the rear end of the second trestle, and the rear end of the third trestle is lapped on the front end of the fourth trestle; the fourth trestle is provided with a fourth walking device, and the rear end of the fourth trestle is used for supporting on a filling layer; the pouring system is installed on the walking device, the walking device is used for adjusting the position of the pouring system relative to the end face of the filling layer, and the pouring system is used for pouring the to-be-poured area in multiple stages in the tunneling direction. The trestle is flexible to use, has wide application range and high construction efficiency.

The invention relates to a shield body bottom lifting device, a heading machine comprising the shield body bottom lifting device and a heading machine cutterhead lifting method. The tunneling machine comprises a cutterhead, a shield and a main beam which are sequentially connected, the tunneling direction of the tunneling machine serves as the front, the shield body bottom lifting device is arranged behind the shield and located below the main beam, and the shield body bottom lifting device comprises a shield bottom plate arranged at the bottom of the shield body bottom lifting device. The bottom face of the shield bottom plate is flush with the bottom face of the shield, and the shield bottom plate is used for being attached to the ground when the heading machine sinks so as to increase the contact area between the heading machine and the ground and prevent the heading machine from continuing to sink. The shield body bottom lifting device can prevent the tunneling machine from sinking in soft rock geology, and enables the head cutter head of the tunneling machine to rise to restore the tunneling line of the original design.

The invention provides an anchor cable removing method for a newly-built tunnel, and belongs to the technical field of tunnel construction.The anchor cable removing method comprises the steps that a pilot tunnel is excavated in the shield tunneling path range, and an anchor cable located in the pilot tunnel is cut off; drilling and coring equipment and a vertical anchor cable cutting machine tool are arranged in the pilot tunnel; calculating a vertical cut-off position, and setting the distance between the vertical cut-off position and the position of the cut-off end of the anchor cable along the tunneling direction; wherein the difference is the difference between the tunnel height and the pilot tunnel height, the inclination angle of the anchor cable and the safety margin of the vertical anchor cable cutting machine tool; a vertical anchor cable cutting machine tool is adopted to cut off the target anchor cable, and drilling coring equipment is adopted to implement directional coring at the position of the anchor cable cutting end; and iteratively executing the steps until all the anchor cables corresponding to the positions of the cut-off ends of the anchor cables are removed. According to the anchor cable removing method for the newly-built tunnel, the safety of constructors and equipment is guaranteed, and the anchor cable removing efficiency is improved.

The invention relates to an automatic tunneling robot and method for underground archaeology. The robot comprises a wall-breaking tunneling head, a wall-breaking tunneling machine and a wall-breaking tunneling machine, the telescopic tunneling mechanism comprises a stepping motor, a threaded lead screw, a first supporting frame and a second supporting frame, the stepping motor is connected with the threaded lead screw in a driving mode, and the first supporting frame and the second supporting frame are installed on the threaded lead screw in a spaced mode; the threaded lead screw is used for adjusting the distance between the first supporting frame and the second supporting frame and controlling the first supporting frame and the second supporting frame to be alternately unfolded and folded. And the guiding and posture control mechanism is used for monitoring the posture of the robot body in real time and adjusting the tunneling direction of the robot. Compared with the prior art, the system integrates intelligent control and a multi-mode sensing technology, and is suitable for accurate and lossless operation in underground archaeological exploration.

The invention discloses a shield tunneling axis direction control system and method based on multi-sensor fusion. The shield tunneling axis direction control system comprises a sensor module, a data processing module, a control module and a man-machine interaction module. The sensor module is used for collecting various state information of the shield tunneling machine in real time, and comprises a laser total station, a wireless communication module, a wireless communication module and a power supply module, wherein the laser total station is used for measuring the absolute position and posture of the shield tunneling machine; the gyroscope is used for measuring the real-time attitude of the shield tunneling machine, and the real-time attitude comprises a pitch angle, a yaw angle and a roll angle; the accelerometer is used for measuring the acceleration of the shield tunneling machine and assisting in judging the motion state of the shield tunneling machine; the displacement sensor is used for measuring the displacement change of the shield tunneling machine and ensuring the accuracy of the tunneling direction; and the pressure sensor is used for measuring the pressure of a thrust oil cylinder of the shield tunneling machine and assisting in judging the thrust state of the shield tunneling machine. Through multi-sensor fusion, precise control over the shield tunneling axis direction is achieved, and the tunneling precision is remarkably improved.

The application provides a double cutter disc angle adjustable structure, method and full-face tunneling machine suitable for potash salt mine, and relates to the technical field of full-face mechanized mining equipment for solid potash salt mine and other sedimentary layered deposits. The structure comprises two cutter disc assemblies arranged symmetrically left and right, wherein the output end of a main cutting gear box is rigidly connected with the cutter disc; a driving assembly is arranged on the frame of the full-face tunneling machine and is connected with the main cutting gear box; the two ends of an angle adjusting mechanism are respectively connected with the frame and the side wall of the main cutting gear box, and are used for driving the main cutting gear box to rotate around the vertical central axis thereof relative to the frame, so that the cutter disc is inclined outward relative to the tunneling direction in the horizontal plane; and the structure further comprises a controller which is respectively connected in communication with the driving assembly and the angle adjusting mechanism. The double cutter disc is inclined to form a certain outward inclination angle, the active cutting of the ground stress chain and the stress dimension reduction are realized, the rock breaking specific energy is reduced, and the cutting efficiency is improved.

The invention relates to a mine roadway tunneling direction measurement control point protection device which comprises a funnel-shaped protective cover, a telescopic rod and at least three supporting rods, and the small head end of the funnel-shaped protective cover is fixed to one end of the telescopic rod; the middle parts of the at least three supporting rods are bent to form obtuse angles, one bent sections of the at least three supporting rods are welded and fixed together to form a connecting section, and the other bent sections of the at least three supporting rods are far away from each other to form a supporting base; the telescopic rod is of a hollow structure, and the connecting section is elastically connected to the inner side wall of the other end of the telescopic rod through a spring. By arranging the telescopic rod and the funnel-shaped protective cover, the telescopic rod and the supporting rod can be used for supporting, the funnel-shaped protective cover is used for shielding and protecting a measurement control point at the top of the mine roadway, and when slurry is sprayed to the inner side wall of the mine roadway, the slurry cannot be sprayed to the measurement control point; the position of a measurement control point can be clearly seen subsequently, and the accuracy of measurement data is ensured.

This application relates to the field of underground engineering equipment technology, and in particular to a modular pipe jacking machine for use in situations without a receiving shaft. It includes a tunneling mechanism, a support mechanism, and a muck removal mechanism. The tunneling mechanism comprises a front cutting unit, a middle cutting unit, and a rear cutting unit arranged sequentially from front to back along the tunneling direction. Each of the front, middle, and rear cutting units includes multiple cutting modules, and adjacent cutting modules are detachably connected. The support mechanism includes a front housing and a rear housing. Multiple cutting modules are detachably installed at one end of the front housing. The end of the front housing facing away from the cutting units is detachably connected to the rear housing. A muck removal port is provided at the bottom of the front housing. The muck removal mechanism includes a screw conveyor assembly that passes through the muck removal port and is used to transport and discharge the muck entering the port. This application achieves the technical effect of modularizing the tunneling mechanism, facilitating disassembly and recovery at the end of construction or during cutterhead maintenance.

The invention discloses a surrounding rock information cross-regional long-distance automatic recording system, which is characterized in that tunnel surrounding rock characteristics are calibrated through a laser calibration device, images with laser calibration information are acquired by using a surrounding rock information acquisition sensor, distortion correction is performed on the surrounding rock images by means of the laser calibration information, and corresponding correction matrixes are obtained; splicing is completed on the middle plane; position information of surrounding rock image splicing is automatically recorded, and automatic correction of tunnel surrounding rock specified mileage images and tunnel direction splicing are achieved by means of relative fixing characteristics of a surrounding rock information acquisition sensor and a tunnel shooting area; automatically starting a surrounding rock integrity classification function, and performing crushing, jointing and integrity judgment on the surrounding rock image through an integrity classification algorithm; after image data of a specific mileage is accumulated, joint feature recognition is automatically performed on a joint image, and information such as the number of joints and the direction of the joints is obtained.

The invention provides a coal mine tunnel rapid tunneling method and tunneling system, and relates to the technical field of coal mining, and the method comprises the following steps: obtaining geological data on a target tunneling line; dividing the target tunneling line into a plurality of tunneling line segments according to the geological data; determining the optimal cutterhead mode of the cutterhead of the heading machine in each heading line segment based on the time-varying dynamic characteristics of the cutterhead cutting process in combination with geological data; according to the optimal cutter mode, tunneling a first length along the target tunneling line to obtain a first roadway; collecting a first positioning point and a second positioning point on the first roadway; calculating a deviation included angle between a connecting line of the positioning points and a tunneling line segment to which the tunneling machine belongs, and calculating a correction included angle by combining a self-adaptive integral feedback factor under physical constraint under the condition that the deviation included angle is greater than a preset deviation included angle; and adjusting the tunneling direction of the tunneling machine according to the corrected included angle until the target tunneling line is completed. And the tunneling speed is increased, and uncontrollable deviation is avoided.

This invention discloses a joint advanced detection method based on borehole transient electromagnetics and DC resistivity. Advanced boreholes are deployed along the tunneling direction at the tunnel face to collect and invert transient electromagnetic data, obtaining the borehole transient electromagnetic inversion results. Based on the inversion results and corresponding estimation methods, Gaussian variation models in three principal axis directions are calculated and extended to arbitrary directions. Subsequently, the Gaussian variation models in arbitrary directions are substituted into the covariance calculation formula to calculate the covariance value between any two grid cells in the desired detection area, and assembled into a covariance constraint matrix. Finally, this matrix is ​​introduced as a regularization term into the inversion objective function of DC resistivity advanced detection, achieving covariance-constrained DC resistivity inversion, thereby significantly improving the inversion stability and inversion imaging accuracy of DC resistivity advanced detection. This method is suitable for advanced detection scenarios such as tunnel faces or underground coal mine tunneling.

The application relates to the technical field of shield tunneling, and discloses an intelligent direction adjusting method for shield tunneling in a volcanic ash stratum. The method comprises the following steps: collecting construction data of a shield tunneling machine and a target region through a multi-source sensor, preprocessing the construction data, fusing the preprocessed construction data to obtain real-time monitoring data; acquiring historical tunneling error data of the target region, analyzing the historical tunneling error data and the real-time monitoring data by using a deep learning model, and generating a tunneling direction adjustment instruction; adjusting the advancing speed and the steering angle of the shield tunneling machine and the thrust distribution of a jacking oil cylinder according to the tunneling direction adjustment instruction; generating a mud cake prevention instruction according to the real-time monitoring data, adjusting the cleaning parameters of a mud cake cleaning device according to the mud cake prevention instruction, and displaying the running state and the tunneling direction of the adjusted shield tunneling machine through a man-machine interaction interface. The application solves the control problem of the tunneling direction of the shield tunneling machine, and realizes real-time regulation and control of the advancing speed and the steering angle.