280 results about "Underground tunnel" patented technology

The invention provides a soft rock tunnel surrounding rock parameter dynamic identification method and system based on data driving, and relates to the technical field of underground tunnel mechanical parameter dynamic identification, and the method comprises the steps: obtaining multi-element tunnel surrounding rock parameters, and building a joint probability distribution model of the multi-element surrounding rock parameters based on a Copula theory; performing Monte Carlo simulation, and generating a high-dimensional parameter sample library meeting physical constraints in the parameter constraint space based on the joint probability distribution model; establishing a tunnel three-dimensional numerical model and performing automatic numerical simulation to generate multivariate response data; constructing a Kriging agent model of a Gaussian kernel function based on multivariate response data training, establishing a nonlinear mapping relation between parameter input and deformation output, constructing an inversion objective function by taking the minimum root-mean-square error of multi-measurement-point displacement as an objective, and performing inversion solution by using an adaptive particle swarm optimization algorithm to obtain inversion identification parameters, and a dynamic feedback mechanism is constructed to realize adaptive tracking of the time-varying characteristics of the surrounding rock parameters.

The invention discloses an underground vehicle positioning method based on visual target information fusion, and relates to underground vehicle positioning. The method comprises the steps that visual targets are arranged on the side wall and the top of an underground roadway at preset intervals; collecting multi-source sensor data; extracting a target ID (Identity) and a pixel coordinate # imgabs0 # of the target in an image coordinate system; according to the vehicle-mounted visual camera, converting the extracted pixel coordinate # imgabs2 # of the target into a three-dimensional coordinate # imgabs3 # under a camera coordinate system by using a pre-calibrated camera internal reference matrix K and an external reference matrix # imgabs1 #; querying target coordinates of the corresponding target in a world coordinate system from a database according to the target ID; according to the target coordinate and the three-dimensional coordinate # imgabs4 #, solving the position and attitude of the vehicle relative to a world coordinate system by solving an inverse projection problem, and obtaining a visual target positioning result; and performing multi-sensor fusion according to the recognition state of the visual target to obtain a vehicle positioning result. According to the method, the problems of large positioning accumulative error of the underground long and straight roadway and positioning sudden change caused by visual target misrecognition are solved.

The invention belongs to the technical field of underground disaster monitoring, and provides a tunnel pipe gallery disaster monitoring method and system based on multi-physics field coupling, which uses multi-physics field data for monitoring, can capture various subtle changes of soil bodies inside and around an underground tunnel / pipe gallery, and improves the monitoring accuracy of the underground tunnel / pipe gallery. Accurate data are provided for building of a tunnel / pipe gallery project disaster model and disaster prediction, the method is more reasonable compared with traditional single physical quantity monitoring and analysis, the situation that potential safety hazards are difficult to find due to incomplete data is greatly reduced, and the safety detection efficiency of underground engineering is remarkably improved; on this basis, time step alignment is carried out on the data, discrete multi-physical field data is mapped into continuous physical field distribution based on Kriging spatial interpolation, a seepage-mechanics-thermodynamics coupling equation is established to calculate and predict the settlement amount, and a reduced-order model algorithm is utilized to optimize the calculation time of more than 10 h of traditional data coupling calculation to be within 5 min.

The embodiment of the invention provides an underground tunnel geometric parameter remote sensing inversion method, and belongs to the technical field of data processing, and the method specifically comprises the steps: building a sensitivity enhancement model corresponding to ground surface displacement caused by underground tunnel excavation in combination with an empirical model and a physical model; an InSAR geometric projection equation is introduced, and a function relation between underground tunnel geometric parameters and InSAR line-of-sight deformation is constructed; the method comprises the following steps: collecting time sequence I nSAR data of an underground tunnel in an excavation period, and measuring accumulative sight deformation of a research area according to the time sequence I nSAR data; based on the accumulated line-of-sight deformation, extracting tunnel deformation center positions in a plurality of cross sections and surface line-of-sight deformation of the cross section positions by using an image segmentation and morphological algorithm; and optimizing and constraining a parameter space based on known prior information, substituting the earth surface sight line direction deformation into the function relationship, and performing optimal solution by using a genetic algorithm to obtain other geometric parameters of the underground tunnel. Through the scheme of the invention, the reliability and adaptability of inversion are improved.

The invention discloses an air-ground cooperative system model prediction formation control method in an underground pipe gallery environment, and the method comprises the steps: constructing an air-ground cooperative system nonlinear model, and constructing an underground pipe gallery model; designing a high-order interference observer to estimate current unknown external disturbance, and establishing an interference prediction model to estimate future unknown external disturbance; a rolling optimization control strategy based on state prediction is designed, control signals of all followers are optimized according to the current state of the system and the predicted future state in each control period, and the tracking precision is ensured while the tracking precision is improved. Collision between followers, collision between the followers and the wall of the pipe gallery and obstacle avoidance between the followers and static and dynamic obstacles in the pipe gallery are achieved; and solving is carried out based on a distributed model prediction formation control algorithm combined with a Lyapunov stability theory, so that each follower keeps an expected formation configuration while tracking a leader trajectory. And the driving safety of the formation in the underground pipe gallery environment is ensured.

The invention is suitable for the technical field of communication data scheduling and intelligent network management, and provides a communication data classification management method and system based on AI analysis, and the method comprises the steps: obtaining an original node cache sending window value of a communication node located in a target construction region of a target underground tunnel, historical construction and communication data of the target underground tunnel are acquired; acquiring a plurality of sub-regions which are matched with the background information of the target construction region and are constructed and local historical data corresponding to each sub-region from historical construction and communication data, and extracting construction degree values and effective uploading data utilization rates of the sub-regions in different construction stages; according to the method, a characteristic mode recognition mechanism based on historical construction and communication data is introduced, dynamic self-adaptive adjustment of communication parameters (node cache sending window values) between construction stages is achieved, and the method is remarkably different from an existing management mode depending on static configuration or experience setting.

The invention discloses an adaptive control system and method for a dynamic evolution scene of a trackless rubber-tyred vehicle, and the method comprises the steps: firstly collecting surrounding environment information, constructing a dynamic and static spatio-temporal topological graph of an underground roadway, and carrying out the modeling analysis of a dynamic evolution and unstructured underground roadway environment; a multi-sensor sensing information value evaluation system suitable for the underground roadway environment is constructed, and the value of data obtained by each sensor is evaluated; establishing a long-acting path planning scheme of the trackless rubber-tyred vehicle, and realizing self-adaptive long-acting decision of the trackless rubber-tyred vehicle in a dynamic scene; establishing a trajectory prediction scheme in combination with historical trajectory information, and sending a pre-control command to the trackless rubber-tyred vehicle according to the trajectory prediction information; establishing a trajectory control scheme to enable the trackless rubber-tyred vehicle to track the planned trajectory in real time; through the process, the working efficiency of the trackless rubber-tyred vehicle in the underground coal mine is improved, and the running safety of the trackless rubber-tyred vehicle can be guaranteed.

The invention discloses a full-underground multifunctional full-scale test loading device, and belongs to the technical field of large structural mechanical tests. The integrated counter-force mechanism comprises a counter-force wall which is arranged in the circumferential direction; the quick-release waterproof loading mechanism is arranged in the counter-force wall and is electrically connected with the control system; and the auxiliary system is arranged on the inner side of the quick-release waterproof loading mechanism. The device can be used for carrying out loading tests on large components with various section forms, such as shield tunnels, subsurface tunnels, pipe galleries, large-diameter pipelines and the like, and the utilization rate of the platform is remarkably improved. According to the integrated counter-force mechanism, the compressive strength, the shear strength and the impermeability of the counter-force well wall are greatly improved, the underwater test function is added, and meanwhile a foundation is provided for performance upgrading of a loading system in the later period.

The invention discloses a mining intelligent ventilation scheduling decision-making system based on wind network calculation, and relates to the technical field of mining equipment, and the system comprises a data collection module which is used for collecting ventilation data of a whole mine; the wind network resolving module is used for reading the whole mine ventilation data in real time, carrying out wind network resolving and simulating the mine ventilation condition in real time to obtain a mine wind demand result; the data analysis module is used for analyzing the whole mine ventilation data and the mine wind demand result data; performing wind network diagnosis according to the underground roadway topological structure, and obtaining an optimization strategy according to a wind network diagnosis result; and the linkage control module is used for controlling automatic regulation and control of related equipment according to the optimization strategy. According to the invention, underground ventilation parameters are collected in a unified manner, wind network resolving data are analyzed in a unified manner, and ventilation facilities and equipment are subjected to linkage control, so that the purposes of supplying wind according to needs and controlling wind in catastrophe are achieved.

The invention discloses a water mist nozzle adjusting method, computer equipment and water mist fire extinguishing equipment. The method comprises the steps that environment information of a target fire area is collected, and the environment information comprises at least one of gas components, temperature distribution and a flame profile; processing the environment information based on a preset deep learning algorithm, and determining fire features; determining a target angle of a water mist nozzle based on the fire features; and adjusting the water mist nozzle based on the target angle. The technical problem that at present, a fixed spray head is usually adopted for fire extinguishing in limited spaces such as underground tunnels, hidden areas such as cable interlayers cannot be covered due to the fixed angle, and fire reignition is caused is solved.

The invention discloses an underground tunnel type hydrogen storage library structure and a construction method, and relates to the technical field of underground hydrogen storage libraries, the underground tunnel type hydrogen storage library structure comprises a steel lining, a supporting layer and a supporting adjusting assembly, and the supporting layer covers the outer side of the steel lining; the supporting adjusting assembly comprises a displacement meter and an adjusting mechanism, the adjusting mechanism comprises a fixed cylinder and a sliding part, the displacement meter and the fixed cylinder are both arranged on the surrounding rock layer, and the sliding part is arranged on the fixed cylinder in a sliding mode and abuts against the outer side of the supporting layer; the sliding piece can slide close to or away from the supporting layer according to the rock surrounding layer offset measured by the displacement measuring meter. When the surrounding rock layer deviates due to landslide and other reasons, the displacement meter can measure the deviation amount of the surrounding rock layer and send a sensing signal to the hydraulic part, so that the hydraulic part controls the sliding part to be close to or away from the supporting layer according to the deviation amount, supporting compensation of the supporting layer and adaptive adjustment of supporting stress of the steel lining are achieved, and the supporting effect of the supporting layer is improved. Collapse of the hydrogen storage reservoir is prevented.

The invention relates to a point cloud map construction method, device and system, engineering machinery and a program product. The method comprises the following steps: acquiring IMU data and laser radar point cloud data; performing forward propagation integration on the IMU data, performing timestamp accumulation on the laser radar point cloud data, and generating an IMU data integration result and a point cloud data sequence which are aligned in time sequence; correcting the distortion of the point cloud data according to the back propagation of the IMU data integration result, extracting geometric features from the distortion-removed point cloud data, calculating the point-surface residual error, and constructing a state estimation constraint; aiming at a map matching failure scene, optimizing the contour residual error; fusing multiple types of residual errors to construct a residual error set; and iteratively correcting the system state through a first predetermined algorithm, and synchronously generating an odometer and a map of the underground roadway. According to the method, the IMU and laser radar data can be cooperatively processed in stages, and the forward and back propagation algorithms and multi-residual joint optimization are combined, so that high-precision state estimation and map construction are realized.

The invention discloses a flame-retardant antifouling organic-inorganic composite coating for an underground coal mine roadway and a preparation method of the flame-retardant antifouling organic-inorganic composite coating, and relates to the technical field of composite coatings. When the flame-retardant antifouling organic-inorganic composite coating for the underground coal mine roadway is prepared, inorganic filler is soaked in conductive slurry to prepare modified inorganic filler; the modified polyurethane emulsion, the calcined wollastonite powder, the modified inorganic filler and water glass are mixed with water and then coated, and the flame-retardant antifouling organic-inorganic composite coating for the underground coal mine roadway is prepared after curing. The prepared flame-retardant antifouling organic-inorganic composite coating for the underground coal mine roadway has the advantages of flame retardance, static electricity resistance, stain resistance, super-hydrophobicity, moisture resistance, wear resistance, high bonding strength and high tensile strength. And the coating has good brightness, can improve the sight condition of underground work, and changes the overall dark environment of an underground roadway.

The invention discloses a method and a system for rapidly analyzing an over-break and under-break condition of an underground tunnel group, relates to the technical field of pumped storage power station engineering measurement, and solves the problems of low model construction efficiency and poor model construction precision of the existing three-dimensional laser scanning technology in construction of a tunnel model. According to the scheme, the method comprises the steps of obtaining three-dimensional point cloud data in a tunnel; preprocessing the three-dimensional point cloud data to obtain tunnel three-dimensional point cloud data; carrying out partition down-sampling processing based on density characteristics and curvature characteristics based on the tunnel three-dimensional point cloud data, and carrying out tunnel three-dimensional reconstruction; constructing a tunnel three-dimensional design model based on the design parameters on the design drawing; aligning the three-dimensional reconstruction model of the tunnel with the three-dimensional design model of the tunnel, and identifying and marking an over-excavation and under-excavation area; on the basis of the aligned tunnel three-dimensional reconstruction model and tunnel three-dimensional design model, extracting feature points of the to-be-measured section, and calculating an over-break value of the to-be-measured section on the basis of the feature points; and the model construction precision and efficiency are improved.

The invention discloses a shield tunneling machine soil pressure balance control method and system based on multi-parameter dynamic optimization, and relates to the technical field of shield tunneling machine control. The method comprises the following steps: calculating a support force required in a shield tunneling process under a current working condition and a theoretical shield soil bin pressure observation value, and establishing a relationship through a linear fitting mode to obtain a soil bin pressure transfer coefficient under a current stratum condition; calculating the theoretical support force of the tunnel face in the tunneling process, and calculating the preset value of the shield soil bin pressure in combination with the soil bin pressure transfer coefficient; and acquiring a real-time shield soil bin pressure observation value, and performing multi-parameter collaborative optimization on an error between the preset value of the shield soil bin pressure and the real-time shield soil bin pressure observation value by using a particle swarm optimization algorithm to obtain an optimized control parameter. According to the method, the pressure of the soil bin can be adjusted more accurately according to actual conditions, so that dynamic balance of an excavation face in the construction process is ensured, and safety and stability of underground tunnel construction are guaranteed.

The invention provides an autonomous operation method and system for a coal mine underground roadway repair robot, and the method comprises the steps: positioning a deformation region based on roadway three-dimensional point cloud data collected by a plurality of laser radars, and planning a navigation path according to the position information of the deformation region; detecting whether an exposed anchor rod exists in the deformation area or not through a first camera, if yes, cooperatively positioning the exposed anchor rod through a plurality of laser radars and the first camera, and controlling an auxiliary arm and a shearing clamp to shear; an operation mechanical arm and a breaking hammer are controlled to break the deformation area, float coal on a roadway bottom plate is recognized through a plurality of laser radars, and the operation mechanical arm and a bucket are controlled to gradually clean the float coal; and the repairing robot is controlled to run forwards to clean the step pitch, the anchor rod missing position is detected through a second camera, and the anchor rod drilling machine is controlled to drive an anchor rod to the anchor rod missing position. According to the method, accurate control over the whole process of roadway repairing operation is achieved, and the intelligence, the high efficiency and the safety of roadway repairing are improved.

A system for sealing prefabricated facilities or underground facilities may allow for the sealing and pressurizing of parts or all of an underground facility or enclosed facility via a plurality of sealable doors or prefabricated modules. The system may implement mechanical connections between walls or extensions of individual modules. The system may implement complementary mechanical connections or partially complementary mechanical connections between individual modules and may further include module interior or module exterior sealing layers for rigid layers. The system may implement mechanical connections between individual modules wherein each of the mechanical connections may utilize sealing complementary profiles constructed and arranged to provide for an airtight seal between modules. The system may be used to link surface facilities to underground facilities, tunnels or shafts, or to pressurize sections of tunnels or shafts. The system may be used to stabilize pressurized facilities from back-blast due to evacuation of said tunnels or shafts. The system may be used to construct pressurized surface habitats independent of, or linked to underground tunnels or facilities. The system may further be used to construct space platforms or space stations.

The present application relates to the technical field of three-dimensional modeling, and particularly relates to a method and system for constructing a three-dimensional model of a digitalized underground tunneling working face in a coal mine. The method comprises: performing the same grid division on a first point cloud of the tunneling working face before support work starts after a section of cutting work is completed, and on multiple second point clouds of the tunneling working face during a next section of cutting work after the support work is completed; comparing the grid regions of each second point cloud with the corresponding grid regions of the first point cloud to determine the vibration influence degree of each grid region of each second point cloud; determining the vibration trend coefficient of each grid region according to the change in the vibration influence degree of each grid region in each second point cloud; determining the data accuracy of each grid region according to the vibration trend coefficient of each grid region; filtering the point cloud according to the data accuracy of each grid region, and performing three-dimensional modeling according to the filtered point cloud, thereby improving the accuracy of three-dimensional modeling of the tunneling working face.

The invention discloses a rock weathering intelligent identification method and device based on multi-mode perception and a medium, and relates to the field of underground engineering intelligent construction, and the method comprises the steps: collecting an excavation face image in an underground tunnel, determining the rock attribute corresponding to the excavation face rock based on the collection position information, and associating the rock attribute with the excavation face image; visual features of the excavation face image are extracted, weighted fusion is carried out on the visual features and the rock attributes, and fusion perception features are generated; outputting a weathering grade classification result and a classification auxiliary index corresponding to the rock of the excavation face through a multi-task learning model based on the fused perception features; and generating a weathering result mark, adding the weathering result mark to the excavation face image, and connecting the weathering result mark to an underground tunnel engineering management system based on a construction pile number interface corresponding to the acquisition position information. Real-time and efficient reasoning is ensured, instant and scenarized weathering state feedback is provided for tunnel construction, and the intelligent level and risk management and control capability of underground engineering are effectively improved.

The present invention discloses a pumped-storage power station reservoir ventilation system and modification method based on an underground tunnel group. The ventilation system includes a regulating pool, vents, and ventilation ducts. The regulating pool is arranged at the lowest point of the tunnel group, with a cylindrical cavity at the bottom and a hemispherical cavity at the top. A regulating pool vent is provided at the top of the regulating pool, and a regulating pool ventilation duct is opened from the regulating pool vent to the ground. The ventilation ducts and vents are arranged in a coordinated manner. The vents are arranged at the tops of each tunnel in the underground tunnel group, and the ventilation ducts are used to connect the vents with the bottom surface. The ventilation ducts include a return air duct in the coal test mining area, a combined machine and rail duct in the coal test mining area, a No. 1 connecting tunnel ventilation duct, a passenger yard ventilation duct, a return air duct, a parking lot ventilation duct, a No. 2 connecting tunnel ventilation duct, an extended tunnel ventilation duct, and a regulating pool ventilation duct. The present invention can achieve timely exhaust and air replenishment functions, stabilize the hydraulic flow state of the underground tunnel group, and improve air quality and ventilation conditions.

The application discloses an indoor fire source loading method for simulating real fire in an underground tunnel, S1: processing a test rock block in the shape of a cuboid; S2: selecting rock blocks as bases and placing the test rock block above the two bases with a distance between the two bases, so as to form a structure similar to a "pin" character; S3: setting a heating groove in the space between the two bases and the bottom surface of the test rock block; S4: spraying fireproof materials at the intersection gap between the bottom of the left and right side walls of the test rock block and the two bases, and at the intersection gap between the bottom of the front and back wall surfaces of the test rock block and the heating groove; S5: placing combustion materials in the heating groove and performing open fire source damage loading; and S6: extinguishing the open fire source and performing post-processing on the test rock block. The method can effectively realize single-side open fire loading on the rock block in a laboratory scale, is closer to the actual situation that the single-side wall of surrounding rock is affected by fire, and is more reasonable and intuitive for simulating and studying rock open fire damage in real fire in an underground tunnel.

The invention relates to the technical field of distance measurement, in particular to a laser point cloud plane detection and distance measurement method, device and equipment and a medium. And the automatic measurement of the underground tunnel wall distance is realized by using the laser radar. The measurement distance is the distance from the laser radar to the wall surface of the tunnel wall. The distance is equal to the plane distance from the viewpoint of the laser radar to the tunnel wall point set fitting, and is the shortest distance from the point to the plane. According to the strategy of the invention, the laser radar scans the tunnel wall area as much as possible, so that the area occupied by the tunnel wall area in the visual field of the laser radar is maximum. Then the vertical face with the largest area in the scene is obtained through the algorithm, and the distance between the vertical face and the laser radar is measured. And then, the least square method is adopted for plane fitting, so that the precision of plane extraction is improved, and the method is not influenced by outlier noise and is also not influenced by the unevenness and unevenness properties of the tunnel wall surface.

The invention discloses a tunneling working face partition ventilation device and a partition ventilation method thereof, and belongs to the technical field of underground tunneling engineering.The tunneling working face partition ventilation device comprises a tunneling machine body, an air inducing system and an air distributing system are arranged on the tunneling machine body, the air inducing system comprises a roadway air duct, the roadway air duct is connected with a telescopic air duct, and the telescopic air duct is connected with the tunneling machine body. The telescopic air duct is connected with the connecting hose; the air distribution system comprises an air flow tee joint and an air distribution box, one end of the air flow tee joint is connected with the connecting hose, the other end of the air flow tee joint is connected with the air distribution box, and the bottom of the air distribution box is connected with a dust collection system. The technical problems that an existing ventilation device is fixed in ventilation area and poor in ventilation effect are solved.

The application provides a method for grading the quality of altered rock mass of underground tunnels, and relates to the technical field of rock mass grading. The method comprises the following steps: obtaining the Q value of the rock mass through the Q system grading method; defining the first index corresponding to the alteration degree, the second index corresponding to the position relationship between the altered rock mass and the tunnel, and the third index corresponding to the groundwater outcrop condition; calculating the product of the first index, the second index, the third index and the Q value to obtain the corrected Q value; and grading the quality of the altered rock mass according to the corrected Q value. In this way, the alteration degree of the altered rock mass, the position relationship between the altered rock mass and the tunnel, and the influence of the groundwater on the altered rock mass are all taken into account, so that the grading of the altered rock mass according to the corrected Q value is more accurate, and the problem of deviation in the grading of the altered rock mass according to the existing Q system grading method is solved. The application is suitable for grading the quality of altered rock mass of underground tunnels.

This invention relates to the field of underground tunnel support technology, specifically to an underground tunnel support device. It includes two symmetrical bases, each with multiple fixed columns fixed to its upper surface. Each base has multiple casters at its lower end along its travel direction. A support plate is fixedly connected to the upper ends of the multiple fixed columns on its lower surface. A support plate is positioned above the support plate. The support plate has a drive assembly that, through two connecting components, drives the multiple casters to extend into or out of the corresponding base's first cavity. Simultaneously, the drive assembly, through two transmission components, drives the support plate to move in the same direction as the casters. When the casters or support plate complete their movement, a switching component stops the movement of the completed casters and continues the movement of the uncompleted casters until the movement is complete. This invention has advantages such as simplified operation steps, reduced risk of manual intervention, and improved safety and reliability of support operations.

The present invention provides a method and system for extracting geometric fixed points at underground tunnel intersections, comprising: step S1: inputting a three-dimensional point cloud of the intersection to be processed to obtain a fitted ground plane equation and mine tunnel height information; based on the ground plane equation and the mine tunnel height information, segmenting the three-dimensional point cloud of the intersection to be processed into ground points and non-ground points, and extracting the most structurally distinct and representative wall points from the non-ground points; step S2: projecting the wall points from a laser radar coordinate system to a ground plane coordinate system to obtain a transformed wall point cloud; and step S3: converting the transformed wall point cloud into a two-dimensional occupancy grid image, and extracting the geometric fixed points of the intersection using a Delaunay triangulation method. This method can overcome the problem of significant changes in the structural features of the point cloud of the same intersection scanned by the laser radar due to large changes in the position of the laser radar during flight.

Long tunnels of many kilometres are likely to pass through a range of geologies which may cause problems. The present invention seeks to overcome the disadvantages of the prior art by: drilling a first bore 10 along a first predetermined path, the first bore having a length of at least 25 m; drilling a plurality of second bores 20 along respective second predetermined paths, each substantially parallel to the first predetermined path in order to define a substantially prism-shape region therebetween; and excavating material within the substantially prism-shape region to form a tunnel. In this way, data from drilling the first bore 10 and the plurality of second bores 20 can be recorded and used to inform operators as to the types of material through which they will be excavating. Thus, a more complete view of the underlying geology can be achieved before beginning excavations.

The present disclosure relates to underground tunnel structure, and specifically provides a method and system for determining the water seepage amount of underground tunnel and waterproof material, wherein the method comprises: establishing a simplified model for calculating the water seepage amount of deep underground tunnel; solving the analytical solution and calculating the water seepage amount of underground tunnel; and selecting the waterproof material meeting the requirements according to the water seepage amount. The present disclosure can quantitatively calculate the water seepage amount of deep underground tunnel according to different strata, water-resisting curtain, waterproof material and the setting parameters of drain blind pipe spacing, thereby guiding the waterproof and anti-seepage design of tunnel structure and selecting material in detail. The present disclosure has good social and economic benefits in terms of the safety of tunnel structure, detailed waterproof design and saving of engineering investment.

The invention discloses an underground tunnel unmanned transport vehicle capable of autonomous cruise, and belongs to the technical field of automation equipment, and the installation mechanism comprises an outer shell which is installed on the unmanned transport vehicle, the front side of the outer shell is provided with a receding groove, and the shape of the receding groove is consistent with the shape of an RFID tag; the installation platform is installed at the tail of the unmanned transport vehicle, the two sides of the installation platform extend towards the two sides of the unmanned transport vehicle, the two outer shells are installed at the ends of the two sides of the installation platform, and the front sides of the outer shells face the two sides of the unmanned transport vehicle; the switching table is rotatably mounted on the outer shell; the mechanism integrates punching and mounting functions, is accurate in positioning and continuous and reliable in operation, remarkably improves the mounting efficiency and quality of the RFID tag in a narrow tunnel environment, and reduces the risk of manual operation.

The invention belongs to the technical field of shield segment repair, and discloses a freezing repair method for a shield segment in a water-rich sand layer, which comprises the following steps of: constructing a repair well on the outer side of a damaged shield segment close to a shield tunnel; freezing holes are constructed in the repair well, then freezing pipes are connected for freezing construction, and a freezing curtain corresponding to the damaged shield segment is formed; after the frozen curtain reaches the design strength, the frozen state is kept, and frozen soil around the damaged segment is manually chiseled away; the positioned damaged shield segment is repaired, and it is determined that the repairing effect reaches the expected state; and removing the freezing pipe to release the freezing state, and then backfilling and repairing the well to the ground elevation. According to the method, under the condition that normal use of an existing tunnel is not affected, the damaged shield segment can be rapidly and effectively repaired, the construction risk of constructors is reduced, economic losses can be rapidly, safely, scientifically and reasonably reduced, a new repairing method is provided for the field of underground tunnel engineering, and the method is suitable for application and popularization.